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1. A 6 1 6 AHT Drop A 6 1 7 AHT Drop DeltaM Y A6 1 8 AHT Drop G A6 1 9 AHT Drop GD A 6 1 el PHL Dro e NAVSYSTEMS L Blue Spider User Manual Jun 2013 Ss A 6 1 19 AHT Pickt 20 AHT A _Cable AUX1_ Lengtt le AUX1 Sla NAVSYSTEMS X Blue Spider User Manual Jun 2013 Ss Page 11 A6 1 50 Cable AUX2 L 6 160 Cable E A 6 61 Shy A 6 1 77 Cable A 6 1 78 Cable A 6 1 79 _Cable P le P A6 1 83 Cable Primary Smoothed T NAVSYSTEMS L Blue Spider User Manual Jun 2013 Ss Page 12 6 1 84 Cable CAE S eed i 257 NAVSYSTEMS L Blue Spider User Manual Jun 2013 Ss Page 13 rv 61151 MRU1 Pitch NAVSYSTEMS X Blue Spider User Manual Jun 2013 Ss
2. NAVSYSTEMS L Blue Spider User Manual Jun 2013 Ss Page 15 NAVSYSTEMS k Blue Spider User Manual Jun 2013 Ss NAVSYSTEMS k Blue Spider User Manual Jun 2013 Ss Page 17 NAVSYSTEMS L Blue Spider User Manual Jun 2013 Ss Page 18 NAVSYSTEMS X Blue Spider User Manual Jun 2013 Ss Page 19 NAVSYSTEMS kX Blue Spider User Manual Jun 2013 Ss NAVSYSTEMS X Blue Spider User Manual Jun 2013 Ss Page 21 NAVSYST
3. CA 1 V i is C 4 2 V fe lt Name gt vasa esse ste TAC D App AUS ES DIT ds ins Marisa 111 42 1 information files 1 D 1 1 Bone editor 491 D2 Bone SD an pepe dent nn qu met aneesssres E Appendix E E 1 Vessel Si E 2 Simulator Setting E 2 1 Port Configu E 2 2 Motion Control ee NAVSYSTEMS X Blue Spider User Manual Jun 2013 SK Page 26 1 Introduction This manual is intended as a User Guide The following assumptions are made O That the reader has a knowledge of Windows Operating Systems That the Blue Spider System is already interfaced to external peripherals That the user is comfortable working with ini files That the operator is seeking to achieve the most accurate positioning possible That the operator wants to know how Blue Spider works Page 27 2 Configuration 2 1 Vessel Definition E Ship Definition SDF Editor ioj xi File Edit View Tools Help Gr d Bloon Properties ax Name MMSI caste enterprise 66411002 Object Type aoe z Keel Height Kee t CRP Draft Anal to Water T 12 000 4 600 Deck Level 2 Dec Sh 5 000 a Mass Rano Visc Damp eat Spec Noise Raro E 60000 0000 20000 0000 044890 amp 6 8 Ok Apply Cancel Vessel vehicle and stationary object shapes are stored in Blue Spider as SDF Shape Definition files SDF files have default names but can be saved and loade
4. A 3 1 2 Plc Cable engine configuration Plc CWM 3 channel PLC EncoderType Standard HardwiredPLCReset 0 Shaftl 2 0 0 Shaft2 3 0 0 Shaft3 4 0 0 Tensionl 6 0 0 Tension2 7 0 0 Tension3 8 0 0 Enginel Not used Engine2 LCE Engine3 Drum This section sets the type of cable engine or shaft encoder and identifies the fields used for counters and tensions The Engine1 2 amp 3 can be used to give the cable engines real names that will be seen in the NavSlack software and the Blue Spider variables Page 166 A 3 1 3 CustominputFormat1 Custom input formats specify how to decode an ASCII input message and break it up into fields Example Anemometer r CustomInputFormat5 MsgName STIMWV MsgType 1 0 6 Fieldl 2 0 0 Direction Field2 3 0 0 Field3 4 0 0 Speed M S Field4 to 0 0 Custom input formats typically identify a message by name and by using more than one format for a given input channel it is possible to decode inputs where more than one message is being received If a message does not have a name it cannot be distinguished from other messages so in this particular case only a single sk Page 167 format should be used Most messages can be identified by a unique name so this restriction is not normally a problem By default a message is assumed to have its fields delimited by a comma character The message is also assumed to be terminated with
5. Attribute flags TYPE_DOUBLE TYPE2_LAT UNIT_ANGLE SCAN_SLOWLOG LOG_VALUE The geodetic position of RTT_01 latitude The position given here is in your selected working datum which is not necessarily WGS84 A 6 1 185 RTT_01 Pos Lon Real Number Default caption in log files RTT_01 Longitude Attribute flags TYPE_DOUBLE TYPE2_LON UNIT_ANGLE SCAN_SLOWLOG sk Page 283 LOG_VALUE The geodetic position of RTT_01 longitude The position given here is in your selected working datum which is not necessarily WGS84 A 6 1 186 RTT_01 WaterDepth Real Number Default caption in log files RTT_01 Water Depth Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE SCAN_SLOWLOG LOG_VALUE The water depth reported by the RTT_01 input A 6 1 187 Ship AvgWaterLine Real Number Default caption in log files Ship Average WaterLine Altitude Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE The averaged altitude of the ship waterline with respect to the working datum The value is calculated by taking Ship CRP Altitude and subtracting the variable Ship Draft if it exists then adding Ship Heave Ship Draft should normally be defined as an input variable in the INI file Ship Heave is already defined and is normally configured to be input from a motion sensor If there is no heave sensor then Ship Heave is considered to be 0 heave is positive
6. Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE The altitude reported by the GPS receiver 1 BSPEngine expects all GPS receivers to Sk Page 261 output position in WGS84 and this means the altitude is also with respect to the WGS84 geoid The altitude here is the altitude of the antenna not the CRP A 6 1 99 GPS1 CRP DX Real Number Default caption in log files GPS1 CRP DX Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE SCAN_NOLOG Computed DX value of CRP position computed by GPS1 A 6 1 100 GPS1 CRP DY Real Number Default caption in log files GPS1 CRP DY Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE SCAN_NOLOG Computed DY value of CRP position computed by GPS1 A 6 1 101 GPS1 CRP DZ Real Number Default caption in log files GPS1 CRP DZ Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE SCAN_NOLOG Computed DZ value of CRP position computed by GPS1 A 6 1 102 GPS1 CRP Pos Alt Real Number Default caption in log files GPS1 CRP Altitude Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE SCAN_NOLOG S Page 262 Computed altitude value of CRP position derived from GPS1 in your working datum vertical reference A 6 1 103 GPS1 CRP Pos Lat Real Number Default capti
7. Real Number Default caption in log files GPS1 Longitude Attribute flags TYPE_DOUBLE TYPE2_LON UNIT_ANGLE LOG_VALUE The geodetic position reported by GPS1 longitude The position given here is the raw position in WGS84 A 6 1 120 GPS1 Quality String Default caption in log files GPS1 Quality Default format specifier 1f Attribute flags TYPE_STRING The quality indicator reported by GPS receiver 1 A 6 1 121 GPS1 Sats Integer Default caption in log files GPS1 Sats Default format specifier d Attribute flags TYPE_LONG LOG_VALUE The number of satellites ground stations in view to GPS receiver 1 A 6 1 122 GPS1 Time String Default caption in log files GPS1 Time Attribute flags TYPE_STRING TYPE2_TIME ASSOC_PREV Page 267 The time time of GPS1 HH MM SS SS as received from GPS receiver 1 A 6 1 123 GPS1 VDOP Real Number Default caption in log files GPS1 VDOP Default format specifier 1f Attribute flags TYPE_DOUBLE LOG_VALUE The VDOP vertical dilution of precision as received from the GPS receiver 1 A 6 1 124 GPS2 GPS3 Heading Real Number Default caption in log files GPS2 3 Derived Heading Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_ANGLE UNIT2_DEGREES LOG_VALUE Computed raw vessel heading derived from GPS2 to GPS3 vector A 6 1 125 GPS3 GPS1 Heading Real Number Default caption in log files GPS
8. Vertical datum shift to convert from the WGS84 geoid altitude to your selected vertical reference Sk Variable Name Ship WaterDepth Ship WaterDepth1 Ship WaterLine Ship WaterLineWGS84 SP1 Averaged CMG SP1 Averaged Speed SP1 Averaged SpeedKmh SP1 Date SP1 GPS AltitudeWGS84 SP1 GPS GeoidalSeparation SP1 GPS HDOP SP1 GPS PDOP SP1 GPS Quality SP1 GPS Sats SP1 GPS VDOP SP1 Grid Easting SP1 Grid Northing Page 226 Description True water depth from the waterline Also available for depth sounder 2 and 3 True water depth from the waterline from depth sounder 1 This is water depth from the echo sounder adjusted to CRP level then compensated for draft and heave Altitude of the ship waterline with respect to the working datum vertical reference geoid Altitude of the ship waterline with respect to the WGS84 geoid Time averaged SP1 course made good in degrees Time averaged SP1 speed in metres per second Time averaged SP1 speed in kilometres per hour Time date of SP1 GPS DD MM YYYY as received from the primary GPS receiver Altitude reported by the primary GPS receiver Altitude reported by the primary GPS receiver Primary GPS HDOP horizontal dilution of precision as received from the primary GPS receiver Primary GPS PDOP primary dilution of precision as received from the primary GPS receiver Quality indicator reported by the primary GPS receiver Number
9. Burial depth is simply Burial Wie gt Ez F P2 Pr The waterline altitude Wa is computed by taking the altitude reading from the GPS receiver s then adjusting this by compensation for pitch amp roll and the antenna X Y Z offsets to the ships CRP central reference point Note that the effective altitude difference distance between the CRP plane and the antenna will shorten or lengthen as the ship pitches and rolls If there is zero pitch and roll this adjustment is simply the height of the antenna An sk Page 59 adjustment is then made to this computed CRP altitude to bring this level down to the actual waterline e g compensation for draft and heave 2 2 5 Display Tab The display tab is used to define how the mobile is seen and for setting up the Proximity Alerts These are configured in the same way that vessels are defined and is explained in the Vessel Definition section of this manual Mobile Excalibur SDF Editor File Edit View Tools Help Grd Hio Dk Properties ax Display Options F Fill vessel outine SkyBlue El also g L 4 Proximity Alert 2 Safe work distance 200 00 m 2 3 I Fillifnotalerting ON 134160128 afo 4 T Filifalertactive 240 5050 a 390 TM Animate Enable proximity alarm 8 AY Ip O Minimum display size 2 50 em Show label IV 5 IF Show orientation arrow
10. Page 426 TransducerOffsetToWaterLine echo sounder configuration in the BSPEngine INl file should be absent or set to zero C 3 6 GPS Receivers The offsets for these should also be accurately determined and defined in the vessel definition C 3 7 HPR System This should be configured as appropriate for the system being used It is not normally necessary to define an offset for the HPR pole in fact this should only be done if the system outputs a pole relative rather than CRP relative position General rule of thumb don t define a HPR pole offset C 3 8 Subsea depth sensors Vehicle definitions should be defined for mobile vehicles ROV Plough etc The position of the depth sensor should be defined as a vehicle offset with the appropriate type C 3 9 Motion sensor Support for most motions sensors used is configured automatically on receipt of data from the sensor If the motion sensor used supports heave then this is also used If the sensor does not support heave and a separate heave sensor is used then this must be configured as a custom input and ultimately assign to the variable Ship Motion Heave sk Page 427 C 4 Editing geocalc dat to define additional datums Note that a suitable geocalc dat and NavGeo dat should have already been supplied prior to the start of operations In the geocalc dat and in NavGeo dat additional datums can be added if required These are added to the Datums section
11. Ship Kalman CMG Ship Kalman Pos Lat Ship Kalman Pos Lon Ship Kalman Speed Ship KeelHeight Ship LaybackPoint Ship Motion Heading Ship Motion Heave Ship Motion Pitch Ship Motion Roll Ship MRU ReceiverFlags Ship Offsets Grid1 Easting Ship Offsets Grid1 Northing Ship Offsets Pos1 Alt Ship Offsets Pos1 Elev Ship Offsets Pos1 Lat Ship Offsets Pos1 Lon Page 224 Description Smoothed ship speed in kilometres per hour calculated using Kalman filter Smoothed postion of the ship as calculated by the Kalman filter Smoothed postion of the ship as calculated by the Kalman filter Smoothed ship speed in kilometres per hour calculated using Kalman filter Distance from the keel of the ship from the CRP The name of the vessel offset which is currently the default layback offset for all mobiles Heading of the vessel in degrees as obtained from a motion sensor Heave of the vessel in metres as obtained from a motion sensor Pitch of the vessel in degrees as obtained from a motion sensor Roll of the vessel in degrees as obtained from a motion sensor A set of bitflags describing how the primary MRU system is configured These variables are available for the first 16 vessel offsets Position easting of vessel offset 1 Position northing of vessel offset 1 Position altitude of vessel offset 1 Elevation from seabed to vessel offset Position latitude
12. 0 offsets in the HPR Regardless of the method chosen there is a fundamental MUST to ensure that the calibration sk Page 86 configuration is correct The HPR is a navigation computer and as such it computes Easting and Northing for the CRP When the correct GPS input is applied the geodetics correctly set up in UTM the offsets correctly measured the same gyro and MRU inputs applied the calculations of Easting and Northing in the HPR and in Blue Spider will be exactly the same or at least to 0 02m Do not proceed with an HPR calibration unless this simple check has been passed Page 87 2 11 Geodetics Blue Spider calculates all positions in Latitude and Longitude and computes Easting and Northing values The Geodetic settings in Blue Spider must be correctly applied for the current project Heights depths and altitudes are now treated a lot more accurately in Blue Spider to obtain sea levels tidal influences burial depths and cable altitude When configuring the geodetic information the vertical Datum must be considered as well as the horizontal datum There are many BSPEngine variables to consider when checking the vertical offsets including Water Line height Draft Geoidal Separation and Altitude use of the Variable Watch Windows is recommended during verification of these values prior to logging them The following screen shots show the new geodetic information panels in Blue Spider Coordin
13. 115 3 1 12 Targets Targets are not associated with routes but they can be quickly created as positions on the screen or relative to a selected route A target that is in use is said to be An Active Target Blue Spider can support up to 3 Active targets at any time When a target is active Blue Spider can compute a range and bearing to the target 3 1 12 1 Create Targets There are 4 options available for creating Targets Absolute Relative Mobile Range At anytime the Click to define point on screen button can be used to enter the position from the plan screen view Ww a Symbols and range rings can also be applied to the targets Targets are Entered which adds them to the database or Entered and made active which also makes them the active target The Keep dialog box open can be ticked to prevent the Target box from closing This is a useful feature when generating multiple targets using mouse clicks Page 116 Absolute Targets are defined by position in Grid or in Geographical Instantaneous conversion will be carried out as a position is entered Relative Targets can be relative to Routes Existing waypoints KP and DOL from a Route Mobile Targets allow the user to select ROV or O Plough as a target this is a way to obtain a continuous range and bearing from the vessel to the selected mobile The range and bearing represents a horizontal m
14. A 6 1 260 SP1 GPS PDOP Real Number Default caption in log files Primary GPS PDOP Default format specifier 1f Attribute flags TYPE_DOUBLE LOG_VALUE The primary GPS PDOP primary dilution of precision as received from the primary GPS receiver A 6 1 261 SP1 GPS Quality String Default caption in log files Primary GPS Quality Default format specifier 1f Attribute flags TYPE_STRING LOG_VALUE The quality indicator reported by the primary GPS receiver This variable is an alias of Ship GPS Quality A 6 1 262 SP1 GPS Sats Integer Default caption in log files Primary GPS Sats Default format specifier d Attribute flags TYPE_LONG LOG_VALUE The number of satellites ground stations in view to the GPS receiver This variable is an alias of Ship GPS Sats A 6 1 263 SP1 GPS VDOP Real Number Page 305 Default caption in log files Primary GPS VDOP Default format specifier 1f Attribute flags TYPE_DOUBLE LOG_VALUE The primary GPS PDOP primary dilution of precision as received from the primary GPS receiver A 6 1 264 SP1 Grid Easting Real Number Default caption in log files Overboard Point Easting Default format specifier 2f Attribute flags TYPE_DOUBLE TYPE2_EAST SCAN_ALIAS LOG_VALUE The grid position of SP1 easting The position given here is according to your selected map projection and datum A 6 1 265 SP1 Grid Northing Real Number Def
15. A 6 1 276 SP1 Route Section Bearing Real Number Default caption in log files SP1 Route Section Bearing Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_ANGLE SCAN_SLOWLOG UNIT2_DEGREES LOG_VALUE The true bearing of the current route section A 6 1 277 SP1 Route Target Bearing Page 309 Real Number Default caption in log files Target Bearing Default format specifier 1f Attribute flags TYPE_DOUBLE UNIT_ANGLE UNIT2_DEGREES SCAN_ALIAS LOG_VALUE The true bearing in degrees from SP1 to the current target A 6 1 278 SP1 Route Target Range Real Number Default caption in log files Target Range Default format specifier 1f Attribute flags TYPE_DOUBLE UNIT_DISTANCE SCAN_ALIAS LOG_VALUE The range in metres from SP1 to the current target A 6 1 279 SP1 Route TerrainDist Real Number Default caption in log files SP1 Terrain Dist km Default format specifier 3f Attribute flags TYPE_DOUBLE TYPE2_KP UNIT_DISTANCE UNIT2_KM LOG_VALUE The route terrain distance value of SP1 This is similar to the KP value except the undulations in the route are taken into account The route terrain distances are calculated by taking the XYZ distances between each point the route should contain water depth information for this to be effective Each route point is converted from lat long altitude in order to calculate the distance along each route section
16. A 6 1 303 SP2 Offsets Grid1 Northing Page 316 Real Number Default caption in log files SP2 Offset 1 Northing Default format specifier 3f Attribute flags TYPE_DOUBLE TYPE2_NORTH SCAN_NOLOG LOG_VALUE Position northing of SP2 offset 1 Offset 1 is the CRP A 6 1 304 SP2 Offsets Pos1 Alt Real Number Default caption in log files SP2 Offset 1 Altitude Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE SCAN_SLOWLOG LOG_VALUE Position altitude of SP2 mobile or ship offset 1 Offset 1 is the CRP The altitude given here is in your selected working datum vertical reference which is not necessarily WGS84 A 6 1 305 SP2 Offsets Pos1 Elev Real Number Default caption in log files SP2 Offset 1 Elevation Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE SCAN_SLOWLOG LOG_VALUE Elevation from seabed to mobile vessel offset Offset 1 is the CRP The elevation given here is the depth in metres from the given vehicle offset to the seabed An adjustment is made from the position of the altimeter echo sounder to the vehicle offset by taking account of pitch and roll of the vehicle The seabed is assumed to be flat as the given offset could be a short distance away from the altimeter which will mean that the depth given here is not truly accurate A 6 1 306 SP2 0ffsets Pos1 Lat Real Number Default caption in log files SP2 Offset 1
17. Attribute flags TYPE_DOUBLE SCAN_SLOWLOG LOG_VALUE Cable tension from cable engine 3 A 6 1 65 Cable Engine4 CableOut Real Number Default caption in log files Cable Engine 4 Length Default format specifier 2f Attribute flags TYPE_DOUBLE LOG_VALUE SCAN_SLOWLOG Cable out length from cable engine 4 A 6 1 66 Cable Engine4 Tension Real Number Default caption in log files Cable Engine 4 Tension Default format specifier 2f Attribute flags TYPE_DOUBLE SCAN_SLOWLOG LOG_VALUE Cable tension from cable engine 4 A 6 1 67 Cable Factory Length Real Number Default caption in log files Factory Cable Length Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE Factory length of the cable cable operations A 6 1 68 Cable Grid Easting Page 253 Real Number Default caption in log files Cable Easting Default format specifier 2f Attribute flags TYPE_DOUBLE TYPE2_EAST SCAN_NOLOG LOG_VALUE The grid position of cable detector easting The position given here is according to your selected map projection and datum A 6 1 69 Cable Grid Northing Real Number Default caption in log files Cable Northing Default format specifier 2f Attribute flags TYPE_DOUBLE TYPE2_NORTH SCAN_NOLOG LOG_VALUE The grid position of cable detector northing The position given here is according to your selected map projection and
18. LOG_VALUE This is water depth relative to the current vertical datum from primary depth sounder Sk Page 286 A 6 1 196 Ship GeoidWaterDepth1 Real Number Default caption in log files Ship Geoid Water Depth 1 Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE This is water depth relative to the current vertical datum from depth sounder 1 A 6 1 197 Ship GPS AltitudeWGS84 Real Number Default caption in log files Primary GPS Altitude WGS84 Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE SCAN_ALIAS LOG_VALUE The altitude reported by the primary GPS receiver BSPEngine expects all GPS receivers to output position in WGS84 and this means the altitude is also with respect to the WGS84 geoid The altitude here is the altitude of the antenna not the CRP This is the sum of the altitude and the geoidal separation A 6 1 198 Ship GPS GeoidalSeparation Real Number Default caption in log files Primary GPS Geoidal Separation Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE SCAN_ALIAS LOG_VALUE The geoidal separation reported by the primary GPS receiver A 6 1 199 Ship GPS HDOP Real Number Default caption in log files Primary GPS HDOP Default format specifier 1f Attribute flags TYPE_DOUBLE SCAN_ALIAS LOG_VALUE Page 287 The primary GPS HDOP horizontal dilution of precision as
19. RTT_01 section defines the input mode for RTT channel 1 as a pos_input Three different messages are defined one for GPS one for Gyro and one for Water Depth The decode formats for each of these is defined in its own separate section and these are referenced by name in Message1 Message2 Message3 For the pos_input type each message can contain any field types supported by either the standard GPS Gyro or Depth inputs e g the same as Nav1 Gyro1 or Depth1 In addition custom fields such as Field1 Field2 etc sk Page 189 can be specified These if present will be available as variable RTT_01 Message1 Field1 and so on A pos_input type RTT channel will typically be used to position a mobile using something that provides position information in a way similar to the information provided by a GPS receiver e g the input message will typically provide a position as latitude and longitude It is also possible to position using a relative Range and Bearing from a specific vessel offset in which case the system will compute the latitude and longitude An example of this is given for the multi_pos_input type but this method can also be used for single position input As an alternative to Range and Bearing or absolute Latitude and Longitude it is possible to use DX DY and optionally DZ Page 190 A 3 1 11 2 Blueview multi_pos_input RETON Mode multi pos input VesselRelative 1 AngleOffset 0 F
20. The terrain distance for SP1 is therefore effectively the distance of SP1 along this undulating route If no route is active this variable value is undefined NAN blank Alter course radii are ignored by this calculation NOTE that the active route line should not only contain water depth information which is used to give an altitude value for each point but the waypoints should ideally be spaced close enough together such that the curvature of the earth is not of any great significance This is because the cartesian distance between each waypoint is used to compute the distance If waypoints are too far apart then the straight line between each may be sk Page 310 sufficiently long to dip well below the seabed This will mean that the terrain distances will be shorter that may have been expected A 6 1 280 SP1 Route WaterDepth Real Number Default caption in log files SP1 Route survey Water Depth Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE SCAN_NOLOG LOG_VALUE The route KP as surveyed water depth value SP1 The data here comes from the water depth information in the active route if present The value is otherwise undefined A 6 1 281 SP1 Smoothed CMG Real Number Default caption in log files SP1 CMG Default format specifier 2f Attribute flags TYPE_DOUBLE UNIT_ANGLE UNIT2_DEGREES SCAN_SLOWLOG LOG_VALUE Old style name SP1SmoothedCMG The smoothed SP1 cours
21. long altitide in order to calculate the distance along each route section The terrain distance for SP2 is therefore effectively the distance of SP2 along this undulating route If no route is active this variable value is undefined NAN blank Alter course radii are ignored by this calculation NOTE that the active route line should not only contain water depth information which is used to give an altitude value for each point but the waypoints should ideally be spaced close enough sk Page 323 together such that the curvature of the earth is not of any great significance This is because the cartesian distance between each waypoint is used to compute the distance If waypoints are too far apart then the straight line between each may be sufficiently long to dip well below the seabed This will mean that the terrain distances will be shorter that may have been expected A 6 1 328 SP2 Route WaterDepth Real Number Default caption in log files SP2 Route survey Water Depth Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE SCAN_NOLOG LOG_VALUE The route KP as surveyed water depth value under SP2 The data here comes from the water depth information in the active route if present The value is otherwise undefined A 6 1 329 SP2 Smoothed CMG Real Number Default caption in log files SP2 CMG Default format specifier 2f Attribute flags TYPE_DOUBLE UNIT_ANGLE UNIT2_DEGREES SC
22. of vessel offset 1 Position longitude of vessel offset 1 Variable Name Ship Offsets WGS84 Pos1 Al t Ship Offsets WGS84 Pos1 La t Ship Offsets WGS84 Pos1 L on Ship PrimaryGyro Message Ship RawSpeedKmh Ship SP1 Grid Easting Ship SP1 Grid Northing Ship SP1 Pos Alt Ship SP1 Pos Elev Ship SP1 Pos Lat Ship SP1 Pos Lon Ship SP1 Route Arc DOL Ship SP1 Route Arc KP Ship SP1 Route DOL Ship SP1 Route Grid DOL Ship SP1 Route Grid KP Ship SP1 Route KP Ship Speed Ship SpeedKmh Ship SpeedMS Ship VDatumShift Page 225 Description Position altitude of vessel offset 1 converted to WGS84 Position latitude of vessel offset 1 converted to WGS84 Position longitude of vessel offset 1 converted to WGS84 Message string from the primary gyro input Raw ship speed in kilometres per hour Grid position of SP1 easting Grid position of SP1 northing Altitude position of SP1 Elevation position of SP1 from the seabed Geodetic position of SP1 latitude Geodetic position of SP1 longitude The position given here is in your selected working datum which is not necessarily WGS84 The route arc DOL value of SP1 Route arc KP value of SP1 Route DOL value of SP1 Route GRID DOL value of SP1 Route GRID KP value of SP1 Route KP value of SP1 Smoothed ship speed in kilometres per hour Ship speed in kilometres per hour Smoothed ship speed in metres per second
23. offset 1 Position longitude of SP3 mobile or ship offset 1 S Variable Name SP3 Offsets WGS84 Pos1 Alt SP3 0ffsets WGS84 Pos1 La t SP3 0ffsets WGS84 Pos1 Lo n SP3 Pos Alt SP3 Pos Elev SP3 Pos Lat SP3 Pos Lon SP3 Positioning SP3 Relative DX SP3 Relative DY SP3 Relative DZ SP3 Route Arc DOL SP3 Route Arc KP SP3 Route DOL SP3 Route Grid DOL SP3 Route Grid KP SP3 Route KP SP3 Route SeabedSlope SP3 Route Section Bearing SP3 Route TerrainDist Page 232 Description Position altitude of SP3 offset 1 converted to WGS84 Position latitude of SP3 converted to WGS84 mobile or ship offset 1 Position longitude of SP3 converted to WGS84 mobile or ship offset 1 Position of SP2 altitude Elevation of SP3 above the seabed Geodetic position of SP3 latitude Geodetic position of SP3 longitude Positioning mode of the vehicle which is currently SP3 Delta X offset of SP3 from the vessel CRP Delta Y offset of SP3 from the vessel CRP Delta Z offset of SP3 from the vessel CRP Route arc DOL value of SP2 Route arc KP value of SP3 This is the straight line distance along the route Route DOL value of SP3 Route GRID DOL value of SP2 Route GRID KP value of SP3 Route KP value of SP3 This is the straight line distance along the route Route KP as surveyed seabed slope value under SP3 True bearing of the current route section adjacent to SP3 Rou
24. the fix layout database is updated A 6 1 405 System DBR GeodeticsRevision String Default caption in log files Geodetic Database Revision Attribute flags TYPE_STRING SCAN_SLOWLOG The geodetics database revision NavGeo dat This is a GUID value that changes whenever the geodetic database is updated A 6 1 406 System DBR MobileShapesRevision String Default caption in log files Mobile Shapes Revision Attribute flags TYPE_STRING SCAN_SLOWLOG The mobile shapes revision This is a GUID value that changes whenever any one of the mobile object shape definitions is changed or if objects are added or removed sk Page 344 A 6 1 407 System DBR MobilesRevision String Default caption in log files Mobiles Database Revision Attribute flags TYPE_STRING SCAN_SLOWLOG The mobiles database revision This is a GUID value that changes whenever the mobiles database is updated A 6 1 408 System DBR RoutesRevision String Default caption in log files Routes Database Revision Attribute flags TYPE_STRING SCAN_SLOWLOG The route database revision This is a GUID value that changes whenever the route database is updated A 6 1 409 System DBR RoutesShapesRevision String Default caption in log files Route Shapes Revision Attribute flags TYPE_STRING SCAN_SLOWLOG The route shapes revision This is a GUID value that changes whenever any one of the stationary object shape definitions is chan
25. 60 rat hz i GPS1 Pos Lon secondes 60 rare hz 1 Unless a variable is explicitly added to the VarHistory section the history will not be available The amount of data recorded to a variables history is defined by the parameters specified for the variable You should not attempt to add sk Page 196 history that covers an excessive number of samples or over a very long period of time as this can affect the performance of the application If the rate_hz is omitted then the history will be added to on each update of the given variable For additional information see section A 9 History Objects A 3 1 15 LogFile1 Page The LogFileN sections set up individual log files Example LogFilel Title 10e Standard BaseFileName GpsTest _ DurationInHours RateInSeconds MaxFileSizeInBytes 1600000 Fieldl System Dat System Date Field2 System Tim System Time Field3 GPS1 Pos Lat Man y Field4 GPS1 Pos Lon hom Another example eadin eadin eadin eadin 197 GPS Page 198 LogFile3 Title GyroData Type Message BaseFileName GyroData_ DurationInHours 0 2 MaxFileSizeInBytes 1200000 Trigger GYRO1 Fieldl System Date heading System Date Field2 System Time heading System Time Field3 bin2hex PortInput GYRO1 heading Gyro Data Page 199 A 3 1 15 1 Title This key allows the log file to be given a meaningfu
26. A 6 1 317 SP2 Relative DY Real Number Default caption in log files Plough dy Default format specifier 2f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE SCAN_NOLOG The delta Y offset of SP2 from the vessel CRP A 6 1 318 SP2 Relative DZ Real Number Default caption in log files Plough dz Default format specifier 2f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE SCAN_NOLOG sk Page 320 The delta Z offset of SP2 from the vessel CRP A 6 1 319 SP2 Route Arc DOL Real Number Default caption in log files SP2 Arc DOL Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE The route arc DOL value of SP2 This is the perpendicular distance from route line On the outer corner of an alter course it is the distance from the corner arc Alter course radii if present are used in this calculation A 6 1 320 SP2 Route Arc KP Real Number Default caption in log files SP2 Arc Kp Default format specifier 3f Attribute flags TYPE_DOUBLE TYPE2_KP UNIT_DISTANCE UNIT2_KM LOG_VALUE SCAN_NOLOG The route arc KP value of SP2 This is the straight line distance along the route If no route is active this variable value is undefined NAN blank Alter course radii if present are used in this calculation A 6 1 321 SP2 Route DOL Real Number Default caption in log files SP2 DCC Default format specifier 3f Attribute f
27. A skeleton connects moving parts of a model together A skeleton can link separate groups of vertices and define where they join Mesh files have to be prepared with bone assignments to use a skeleton e Boneinfo A bone information file provides additional information to Blue Spider It can be created from the skeleton using the SDF editor You need a boneinfo file in order to animate moving parts of a model You can t have a boneinfo file without a skeleton Bonescript A bone script is only needed for complex animation For a simple hinge or extending part you are unlikely to need a script but if many parts move in a complex way then a script can compute the bone vertex positions based ona simple input variable or more than one Information on bone animation and scripts can be found in Appendix D p 429 Sk PARENN 2 2 Mobile Definitions IP Mobile Excalibur SDF Editor File Edit View Tools Help i Grd B ajek e Properties Editing mobiles is similar to editing vessel definitions and there are only a few subtle differences in the options available Vessel and mobile shapes are stored in Blue Spider as SDF files SDF files have default names but can be saved and loaded as friendly names for example 1 Save File As ST200 sdf 2 Load from file ST200 sdf SDF files can be loaded modified or saved on any Blue Spider computer Replication will occur to all other Blue Spider scr
28. Attribute flags TYPE_DOUBLE TYPE2_EAST LOG_VALUE SCAN_NOLOG The actual grid position easting from which the anchor was recovered This variable is for anchor handling operations and is designed for use with anchor log files A 6 1 21 AHT Pickup Grid Northing Real Number Default caption in log files Pickup Northing Default format specifier 0f Attribute flags TYPE_DOUBLE TYPE2_NORTH LOG_VALUE SCAN_NOLOG The actual grid position northing from which the anchor was recovered This variable is for anchor handling operations and is designed for use with anchor log files A 6 1 22 AHT Pickup Pos Lat Page 241 Real Number Default caption in log files Pickup Latitude Attribute flags TYPE_DOUBLE TYPE2_LAT UNIT_ANGLE LOG_VALUE The actual position latitude from which the anchor was recovered This variable is for anchor handling operations and is designed for use with anchor log files A 6 1 23 AHT Pickup Pos Lon Real Number Default caption in log files Pickup Longitude Attribute flags TYPE_DOUBLE TYPE2_LON UNIT_ANGLE LOG_VALUE The actual position longitude from which the anchor was recovered This variable is for anchor handling operations and is designed for use with anchor log files A 6 1 24 AHT Pos Lat Real Number Default caption in log files Latitude Attribute flags TYPE_DOUBLE TYPE2_LAT UNIT_ANGLE LOG_VALUE The last position latitude at which an
29. Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE The position of SP2 altitude The position given here is in your selected working datum vertical reference which is not necessarily WGS84 A 6 1 312 SP2 Pos Elev Real Number Default caption in log files SP2 Elevation Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE The elevation of SP2 above the seabed A 6 1 313 SP2 Pos Lat Real Number Default caption in log files SP2 Latitude Attribute flags TYPE_DOUBLE TYPE2_LAT UNIT_ANGLE LOG_VALUE The geodetic position of SP2 latitude The position given here is in your selected working datum which is not necessarily WGS84 A 6 1 314 SP2 Pos Lon Real Number Default caption in log files SP2 Longitude Page 319 Attribute flags TYPE_DOUBLE TYPE2_LON UNIT_ANGLE LOG_VALUE The geodetic position of SP2 longitude The position given here is in your selected working datum which is not necessarily WGS84 A 6 1 315 SP2 Positioning String Default caption in log files SP2 Positioning Attribute flags TYPE_STRING The positioning mode of the vehicle which is currently SP2 A 6 1 316 SP2 Relative DX Real Number Default caption in log files Plough dx Default format specifier 2f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE SCAN_NOLOG The delta X offset of SP2 from the vessel CRP
30. GPS system is configured by default this is logged in hexdecimal This is essentially the primary GPS receiver index 0 1 or 2 in the least significant 3 bits combined with some additional bitflags describing the integration mode Bitmasks for extracting this data are GPS_INDEX_MASK 0x07 GPS_AUTO_PRIMARY 0x08 GPS_INTEG_MASK Oxe0 Masking with the index mask gives the primary GPS receiver If the GPS_AUTO_PRIMARY bit is set then automatic switching of the primary GPS receiver is enabled Bits set in the GPS_INTEG_MASK area starting at 0x20 indicate the receivers included in integration e g 0x20 GPS1 integrated 0x40 GPS2 integrated 0x80 GPS3 integrated If none of the integrate bits are set then integrated mode is not being used A 6 1 205 Ship GPS Sats Integer Default caption in log files Primary GPS Sats Default format specifier d Attribute flags TYPE_LONG SCAN_ALIAS LOG_VALUE The number of satellites ground stations in view to the main GPS receiver A 6 1 206 Ship GPS VTG Course Real Number Page 289 Default caption in log files VTG Ship Course Default format specifier 4f Attribute flags TYPE_DOUBLE UNIT_ANGLE UNIT2_DEGREES SCAN_SLOWLOG LOG_VALUE The course as reported by the VTG message if present from the primary GPS Depending on ship speed and the make of GPS receivers being used this speed value may be either more reliable or totally unreliable or somewhere in betwe
31. KP and DOL has been implemented in Blue Spider BSPEngine and also PPT It is very important for surveyors and all other people involved to understand that except for very small distances where differences are negligible there will always be differences between the Grid KP and DOL and the True KP and DOL values It is essentially as fundamental as the difference in length between a straight and a curved line Typically you try to compare Grid KP and DOL with the true values then you will notice differences If a route line has two waypoints separated by some distance then in particular the grid DOL won t agree with the true DOL and will get worse as you move towards the midpoint between the two waypoints The further the waypoints are apart the bigger the bust between Grid and True KP The reason for the difference is due to the way map projections work which is something that all surveyors should understand in great detail You would probably use Grid KP with a UTM map projection it would not be sk Page 147 at all sensible to use with Mercator except perhaps near the equator Grid distances are NOT the same as distances on the surface of the earth Grid lines are not straight lines on the surface of the earth Rhumb lines are not straight lines on a UTM grid If you take a straight line on a grid and project it on to the surface of the earth it becomes curved and distorted The effect of this depends on the posit
32. Latitude Attribute flags TYPE_DOUBLE TYPE2_LAT UNIT_ANGLE SCAN_SLOWLOG sk Page 317 LOG_VALUE Position latitude of SP2 mobile or ship offset 1 Offset 1 is the CRP A 6 1 307 SP2 Offsets Pos1 Lon Real Number Default caption in log files SP2 Offset 1 Longitude Attribute flags TYPE_DOUBLE TYPE2_LON UNIT_ANGLE SCAN_SLOWLOG LOG_VALUE Position longitude of SP2 mobile or ship offset 1 Offset 1 is the CRP A 6 1 308 SP2 Offsets WGS84 Pos1 Alt Real Number Default caption in log files SP2 Offset 1 Altitude WGS84 Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE SCAN_SLOWLOG LOG_VALUE Position altitude of SP2 offset 1 converted to WGS84 Offset 1 is the CRP A 6 1 309 SP2 Offsets WGS84 Pos1 Lat Real Number Default caption in log files SP2 Offset 1 Latitude WGS84 Attribute flags TYPE_DOUBLE TYPE2_LAT UNIT_ANGLE SCAN_SLOWLOG LOG_VALUE Position latitude of SP2 converted to WGS84 mobile or ship offset 1 Offset 1 is the CRP A 6 1 310 SP2 Offsets WGS84 Pos1 Lon Real Number Default caption in log files SP2 Offset 1 Longitude WGS84 Attribute flags TYPE_DOUBLE TYPE2_LON UNIT_ANGLE SCAN_NOLOG sk Page 318 LOG_VALUE Position longitude of SP2 converted to WGS84 mobile or ship offset 1 Offset 1 is the CRP A 6 1 311 SP2 Pos Alt Real Number Default caption in log files SP2 Altitude
33. MsgName SHEHDT MsgType 1 0 6 Heading 2 0 0 Data to be decoded by the built in Gyro decoder must arrive on ports GYRO1 to GYRO3 and will be decoded to the built in GYRO variables Note that in this section the term Gyro1 refers to the format number not the gyro number There may be 3 gyros interfaced into BSPEngine and if they are all SHEHDT format then only one gyro format is required Page 182 A 3 1 8 Depth4 Depth1 MsgName SSDDB MsgType 1 0 5 WaterDepthMetres 4 0 0 The depth message is likely to have to be changed to suit the echo sounder in use Typical messages include DPDPT Spppps As well as Depth1 you can also have sections Depth2 and Depth3 for configuring additional echo sounders In the vessel definition an offset should be defined for each echo sounder Depths from each echo sounder can be displayed in watch windows or in the depth graph A 3 1 9 RP01 RP03 This section sets up options for the decoding of motion sensor data RPO1 nvertRoll InvertPitch PitchOffset RollOffset tow woo er See RP02 nvertRoll InvertPitch PitchOffset RollOffset SwapPitchRoll 00 00 Les Me Der Ne Tai Page 183 A 3 1 10 RTT Inputs RTT_04 RTT inputs are general purpose inputs but are designed to take in positioning data in a variety of possible formats There are currently 8 available RTT input channels There are several modes that each cha
34. Name Attribute flags TYPE_STRING Name of the current auxiliary target 1 346 Page 347 A 7 Variable attributes Variable attributes can be applied to variables when they are defined in the INI file The most commonly used attribute for a variable is the ability to give a variable a heading e g caption for its column in a log file Variables in BSPEngine are actually complex Javascript objects and have more properties than just the value of the variable Variable attributes are defined in the INI file in curly braces after the variable definition MyVariable Value SomeOther VariableValue 1 attributes go here To give the variable named MyVariable Value a heading for use in log files we declare it as follows MyVariable Value SomeOther VariableValue 1 heading My Value Page 348 You can also define other special properties of variables in a similar way This includes the ability to give a variables a format specifier to indicate how the value should be formatted when outputting All attribute definitions are placed in curly brackets and most are in the format key1 value key2 value For example heading My Heading format 3lf Gives a variable a heading and a numeric format specifier indicating it should be printed to 3 decimal places Of course variables can also be formatted as strings using Javascript functions sk Page 349 A 7 1 heading The heading specifie
35. Name sly z symbol visible CRP 0 000 0 000 0 000 F Z Beacon B55 0 3880 1670 3 075 F i Beacon 833 0 875 1670 3 075 F floret Profiler Port 1800 2 980 3 060 F eet Pons Lroe 2560 5060 Li Blotter ss 350Port 1430 2 770 1 330 F offset TSS 350Stbd 1 430 2770 1330 F 5 lortset 75s 340Port 0 490 4100 0 610 A 3 Offset TSS 340 Centre 0 000 4 100 0 610 F 2 Offset rss sa0stoa 0 490 4 100 0 610 F SG pepth Sensor Bathy 1 150 1550 1 380 F T Beacon 865 1470 2480 3 075 F B Beacon B1 1 470 2 480 3 075 F offset TSSSURVEY 0 000 2 770_ 1 330 F f E HE x Ok Apply Cancel For positioning there are two offsets to look out for on mobiles 1 The SteerPoint Offset the point we are logging 2 The Positioning Offset the position of the beacon s If these are not correct errors very quickly show up when the ROV is on a different heading In practice this can mean that tracking up a cable one way might give a 4m positional difference to when tracking the cable in the opposite direction Page 54 2 2 3 1 Beacon Names and Offsets Blue Spider will attempt to match the Beacon ID with the correct offset when beacons are selected It does this by looking for the Beacon ID in the Description of the Point of Interest Therefore name the Descriptions the same as the Beacon codes This works well as long as the beacons are not inadvertently moved from their offset loca
36. QUES Pl m4 o N lt PH HE E 10 44 37 Union Beaver Barge SP1 Si Speed 0 00 km h Water 21 20 m ARN easqns 3ejms Target targeti8 een Anchor 1 is down Anchor Dropped Anchor Recovered ing Status x Confirm 4 4 Anchor Logging Anchor positions are recorded in a CSV format file for later processing if required by the project For more information refer to A 3 1 15 2 Type p 199 4 5 Anchor Winch Support Blue Spider supports bringing in data from anchor winches that have output messages to provide the payout length speed and tension In order to bring in such data we need to sk Page 143 define custom input messages and decode the results and assign to specific variables 4 5 1 INI File Variables You may define these input variables for each anchor These are intended to be read from custom input messages Anchor1 WinchTension The winch tension in kN Anchor1 PayoutLength Length of the anchor wire in metres Anchor1 PayoutSpeed Payout speed in metres sec and so on for Anchor2 etc 4 5 1 1 BSPEngine Variables If the vessel definition contains one or more anchors then BSPEngine will provide the following variables for each anchor Anchor1 Name Name of the anchor as defined in the vessel definition Anchor1 Status A string Racked Up or Down Up means towed by a Tug Anchor1 Name Name of the anchor as defined in the vessel definition Anchor1 Anc
37. Route Grid DOL Real Number Default caption in log files SP1 Route GRID DOL Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE SCAN_NOLOG The route GRID DOL value of SP1 This is the perpendicular distance from route line On the outer corner of an alter course it is the distance from the corner in which case the KP value will be the KP of the corner Alter course radii are ignored by this calculation and this is a grid calculation not a true KP A 6 1 243 Ship SP1 Route Grid KP sk Page 299 Real Number Default caption in log files SP1 Route GRID Kp Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE UNIT2_KM LOG_VALUE SCAN_NOLOG The route GRID KP value of SP1 This is the straight line distance along the route If no route is active this variable value is undefined NAN blank Alter course radii are ignored by this calculation and this is a grid calculation not a true KP A 6 1 244 Ship SP1 Route KP Real Number Default caption in log files SP1 Route Kp Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE UNIT2_KM LOG_VALUE SCAN_NOLOG The route KP value of SP1 This is the straight line distance along the route If no route is active this variable value is undefined NAN blank Alter course radii are ignored by this calculation A 6 1 245 Ship Speed Real Number Default caption in log fi
38. SP2 Altitude WGS84 Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE The position of SP2 altitude in WGS84 A 6 1 342 SP2 WGS84 Pos Lat Real Number Default caption in log files SP2 Latitude WGS84 Attribute flags TYPE_DOUBLE TYPE2_LAT UNIT_ANGLE LOG_VALUE The geodetic position of SP2 latitude The position given here is in WGS84 A 6 1 343 SP2 WGS84 Pos Lon Real Number Page 327 Default caption in log files SP2 Longitude WGS84 Attribute flags TYPE_DOUBLE TYPE2_LON UNIT_ANGLE LOG_VALUE The geodetic position of SP2 longitude The position given here is in WGS84 A 6 1 344 SP3 Grid Easting Real Number Default caption in log files SP3 Easting Default format specifier 2f Attribute flags TYPE_DOUBLE TYPE2_EAST SCAN_NOLOG LOG_VALUE The grid position of SP3 easting The position given here is according to your selected map projection and datum A 6 1 345 SP3 Grid Northing Real Number Default caption in log files SP3 Northing Default format specifier 2f Attribute flags TYPE_DOUBLE TYPE2_NORTH SCAN_NOLOG LOG_VALUE The grid position of SP3 northing The position given here is according to your selected map projection and datum A 6 1 346 SP3 GridHeading Real Number Default caption in log files SP3 Grid Heading Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_ANGLE UNIT
39. The reference point of the anchor tug used to derive the position of the anchor at deployment will be the centre point of the deployment roller at bow stern of the anchor handling vessel AHT Steer Point 1 In the case of a Barge deploying their own anchors it is also possible to use the anchor handling function within Blue Spider to track the deployment of and recovery of the anchor pattern and in this case no tugs are used Page 129 4 3 2 Safety During cable operations it is of paramount importance to prevent contact between any seabed surface structures pipe lines cables seabed sensors UXO targets and the anchors and anchor cables To ensure this when an anchor has to be deployed from the barge over any seabed obstruction the anchor must be held on the deck of the anchor handling tug and the wire passed out from the barge under tension to suspend the wire above the seabed as the AHT moves towards the deployment point Separation distance between barge and seabed structure should be minimised if at all possible as this assists separation distance between wire and structure Both the Barge Master and Tug Master are responsible for ensuring that any known cables pipelines and seabed structures are avoided It is the responsibility of the Survey personnel to make sure that all known obstructions are displayed to the Barge and Tug Masters they should also monitor anchor positioning and cross check any prospective anchor positions r
40. WGS ellipsoid from the current position Then they are able to correct the height above WGS ellipsoid to the height above WGS84 geoid In that case when the height is not zero on a ship it is because of the tides 1 Ocean 2 Ellipsoid 3 Local plumb 4 Continent 5 Geoid NAVSYSTEMS Blue Spider User Manual Jun 2013 Page 414 C 1 2 3 Geoidal Separation Geoidal Separation is simply the difference between the ellipsoid height and the geoid height Geoidal separation varies according to location Most decent GPS receivers output in the GGA message an altitude value and a geoidal separation value The altitude value is typically the altitude with respect to the geoid EGM96 and the geoidal separation value is the local separation value The sum of the GPS receivers output values of Altitude and Geoidal separation is effectively the WGS84 ALTITUDE Note that some GPS receivers do not output a Geoidal separation value at all and in this case the altitude output is WGS84 These are the assumptions Blue Spider makes and if any GPS receiver does not conform to this then it is probably unsuitable for use C 1 2 4 The EGM Geoid Library Install This is packaged as a separate install this is because it is quite big and not likely to be frequently updated you will probably only have to install it once With the library installed Blue Spider can work in EGM96 so can PPT Using EGM96 is exactly the same as using WGS84 except al
41. WNAVDEV2 COMS5 WNAVDEV2 COMB Echo Sounder NAVDEV2 COM12 COM1 9600 8 1 N COM1 9600 8 1 N SQUAD eq Sd9 UOHOW saul u3 aGe9 uoneanByuog pod ggj 88 G6 BeBe BB aS rs L LE NAVSYSTEMS Blue Spider User Manual Jun 2013 sk Page 440 E 2 1 Port Configuration For each port you can configure by pressing the button in the Settings column This will open the port configuration dialog Gyro 1 Port Configuration is Port Type Local Port Virtual Port Simulator Output Mode ee gt 5 None Disabled Manual Control Simulator From SQL Database D From File Rate 100 66 te CRLF COM Port Server Name COM2 X Baud rate Data bits Stop bits Parity 9600 8 f None Configure the port as a virtual port and use the same port number in the Blue Spider configuration and configure as a virtual port there as well Sk Page 441 Alternatively output to a different physical port thats connected to the one configured in Blue Spider If you select manual control then output will be under the control of the simulator GUI providing its an output supported by the simulator If you select From File then you can specify the name of the file For a text file the output is based on a line by line output so if you specify a rate of 100ms you will get ten lines per second When the end of file is reached it will begin again at
42. a carriage return line feed pair r n A 3 1 3 1 MsgName This key specifies the name at the beginning of the message The value may be optionally enclosed in double quotes If a double quote character is part of the message name it should be escaped by using A 3 1 3 2 MsgType This optional key specifies the length and position of the message name If a message is terminated by an NMEA style checksum then add NMEA at the end of the MsgType value This indicate that the last field should terminate before the XX checksum See the section on field specifiers Page 168 A 3 1 3 3 Field1 For each field of a message a FieldN key should specify its position See section A 3 1 3 6 Field specifiers p 169 A 3 1 3 4 Delimiter The default delimiter is the comma character You can specify a different delimiter e g If a message has fields delimited by a colon character then use Delimiter Alternatively if the message has different delimiters you can specify an ordered set of delimiters using the syntax For example a message has 4 fields delimited by a colon and semicolon Delimiter VERA A ia A 3 1 3 5 Terminator The default terminator is r n You can override this by specifying a different terminator Sk Page 169 A 3 1 3 6 Field specifiers The FieldN and MsgType keys take a value of the form of 3 numbers These 3 numbers a b c specify a The field index 1 based b The a
43. alias of Ship GPS AltitudeWGS84 A 6 1 158 PrimaryGPS AltitudeWGS84 Real Number Default caption in log files Primary GPS Altitude WGS84 Page 276 Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE SCAN_ALIAS LOG_VALUE The altitude reported by the primary GPS receiver BSPEngine expects all GPS receivers to output position in WGS84 and this means the altitude is also with respect to the WGS84 geoid The altitude here is the altitude of the antenna not the CRP This variable is an alias of Ship GPS AltitudeWGS84 A 6 1 159 PrimaryGPS GeoidalSeparation Real Number Default caption in log files Primary GPS Geoidal Separation Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE SCAN_ALIAS LOG_VALUE The altitude reported by the primary GPS receiver BSPEngine expects all GPS receivers to output position in WGS84 and this means the altitude is also with respect to the WGS84 geoid The altitude here is the altitude of the antenna not the CRP This variable is an alias of Ship GPS AltitudeWGS84 A 6 1 160 PrimaryGPS HDOP Real Number Default caption in log files Primary GPS HDOP Default format specifier 1f Attribute flags TYPE_DOUBLE SCAN_ALIAS LOG_VALUE The primary GPS HDOP horizontal dilution of precision as received from the primary GPS receiver This variable is an alias of Ship GPS HDOP A 6 1 161 PrimaryGPS Quality String Def
44. amp roll device but can be configured as a separate input C 3 Draft The draft of the vessel is defined as the offset from the waterline to the CRP in calm water Since the draft of the vessel can change due to changes vessel payload and salinity The vessel draft is defined in the BSPEngine INI as an input variable and can be entered by the operator Both dynamic heave and static draft are actually used to adjust the vessel CRP altitude to the waterline C 3 1 Barometric pressure adjustment of Subsea depth readings The software can be configured to compensate Subsea depth readings made using a pressure sensor it is assumed that a suitable depth pressure sensor will be fitted to most subsea vehicles The Subsea pressure reading is affected by the barometric surface reading Subsea depth measurements taken in this way will be compensated using the barometer as follows Standard atmospheric pressure is 101 325 kPa pressure increases with water depth at 11 14575 KPa m therefore the offset Ship BarometricDepthAdjustment to be added is defined as Sk Page 422 Ship BarometricDepthAdjustment 101 325 Ship Barometer 11 14575 The actual adjustment method and constants are be fully configurable in BSPEngine INI Using the above compensation method and normal variation in surface pressure the barometric adjustment amount would be typically of the order of 50cm Page 423 C 3 2 Barometer To perform this ba
45. and the DP will have different antenna height offsets 2 1 1 4 Draught Keel to waterline The draught must be determined usually from the ballasting computer and kept up to date as the draught of the vessel changes This measurement is used in the calculation of sea level from GPS height Where draught is provided for bow and stern an average figure should be put into Blue Spider Sk Page 32 2 1 1 5 Mass ratio Damping and Noise Mass ratio Visc Damp ratio and Spec Noise ration are used only for the Kalman filtering option This is seldom used so the values can be left as defaults 2 1 1 6 Minimum display size This is used to ensure that the vessel shape is always visible on the Blue Spider screen It refers to the size of the vessel in cm as seen on the plan view If the minimum size is used then the vessel will start to flash indicating that the vessel shape is no longer to scale This feature has no effect on the 3D Viewer 2 1 1 7 Save Definition and Load Definition The file menu allows definitions to be saved and loaded Page 33 2 1 2 Ref Points Tab Points of interest are used to determine precise locations of navigational equipment or points on the vessel to track The positional accuracy can be entered to a resolution of millimetres E Ship Definition SDF Editor E 1D x File Edit View Tools Help 1 Grd Bloaa g Properties 8x Tye Name x Y z Symbo
46. appear in the coordinate system dialog Page 429 NAVSYSTEMS IOM LIMITED Blue Spider GUIDE TO BONE ANIMATION Appendix D Bone Animation and Scripting Draft 1 0 Page 430 D 1 Bone information files Bone information files allow for direct binding of a BSPEngine variable to control movement of one or more bones in order to animate moving parts of a ship mobile or even a stationary object Bone information files can be created for any object and can be created automatically For more complex animation scripts can be used A good example of this is animation of the vessel A frame used for launching a plough An input variable defined in the INI file will take in some measurement of the arm angle for instance and a script will control the position and orientation of each component In the case of a hydraulic ram the components being the individual pistons In a complex situation like this it is necessary to define a script to control all of the components based on the angle of the arm For simpler cases or if you just omit the hydraulic parts you do not need to have a script A bone information file can be created and edited in the SdfEditor Before you can do this you have to already have a mesh or set of mesh files which have the necessary bone bindings and also a skeleton file Once you have the necessary files added to the SDF you can simply select the information button with the skeleton file selected An optio
47. as pitch roll heave surge and sway The magnitude and timing can be controlled for each For data from other sources the only option at present is to play back recorded data In the settings dialog it is possible to not only configure the output ports of the simulator but to also specify the data source Any simulator output can configured as be the result of playing back data from a text file The disadvantage is that in playing back data you cant make any user adjustments via the simulator GUI Future versions of the simulator may allow for script control in order to address this limitation Both the simulator and the main Blue Spider software can use virtual COM ports In testing it is often convenient to use virtual ports as you can then avoid having loads of cables dangling all over the place Page 439 E 2 Simulator Settings To configure ports in the simulator use the settings dialog and go to the port configuration page The names of the ports that are present and configurable by the simulator can be changed by loading a port manifest file This is the PortManifest cfg file that can be found in the System Config folder Do this from the main file menu before opening the settings page S vessel Simulator Settings SSSR pea mmn x WK WNAVDE M2 COM1 9600 8 1 N GPS1 Input WNAVDEV2 COM1 GPS2 Input COM1 9600 8 1 N GP53 Input COMT 9600 6 1 N le Cable Engines NAVDEV2 COM4 Pitch Roll
48. at the SP3 offset position if SP3 is a mobile A 6 1 395 SP3 WGS84 Pos Alt Real Number Default caption in log files SP3 Altitude WGS84 Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE The position of SP3 altitude in WGS84 A 6 1 396 SP3 WGS84 Pos Lat Real Number Default caption in log files SP3 Latitude WGS84 Attribute flags TYPE_DOUBLE TYPE2_LAT UNIT_ANGLE LOG_VALUE The geodetic position of SP3 latitude The position given here is in WGS84 A 6 1 397 SP3 WGS84 Pos Lon Real Number Default caption in log files SP3 Longitude WGS84 Attribute flags TYPE_DOUBLE TYPE2_LON UNIT_ANGLE LOG_VALUE The geodetic position of SP3 longitude The position given here is in WGS84 A 6 1 398 System CommsScannerState Integer Default caption in log files BSPEngine comms scanner status Default format specifier Yu Attribute flags TYPE_LONG LOG_VALUE The state of the communications accessibility scanner thread in BSPEngine This sk Page 342 variable is provided purely for debugging purposes to allow for diagnosis of issues in the field it is of no use for any other purpose A 6 1 399 System CoordinateSystem String Default caption in log files Coordinate System Attribute flags TYPE_STRING LOG_TEXT The coordinate system key describing the coordinate setup currently in use A 6 1 400 System Date String Default capti
49. check we could have used a switch statement but all numbered variables declared in the INI file e g Tank1 Tank2 Tank3 Tank4 are also accessible as arrays We must however use a zero based index So Tank1 Level can also be accessed as Tank 0 Level We take advantage of this in our script A 11 Reserved Words Page 387 The following words cannot be used in variable names either because they are reserved in the Javascript language or because they would conflict with existing objects A 11 1 Reserved by Javascript language Primary language keywords abstract boolean break byte case catch char class const continue debugger default delete do double else int interface let long native new null package private protected prototype public return short static super enum export extends false final finally float for function goto if implements import in instanceof Page 388 switch synchronized this throw throws transient true try typeof var void volatile while with yield Page 389 Classes that should be reserved e Array e Date e JavaArray e JavaClass e JavaObject e JavaPackage e Math e NaN e Number e Object String Special Functions properties Page 390 A 11 2 Reserved by BSPEngine e Vars e Server A 11 2 1 Vars This object actually holds all other variables although they are all available at global scope as w
50. correct type A 3 1 5 3 MsgName This key specifies the name of the message You can place the value in double quotes if necessary If no message name is required then you can omit this key A 3 1 5 4 Field1 This key specifies the variable or expression to be logged for each field Page 174 A 3 1 5 5 Delimiter The default delimiter is the comma character You can specify a different delimiter e g If a message has fields delimited by a colon character then use Delimiter A 3 1 5 6 Terminator The default terminator is r n You can override this by specifying a different terminator The terminator key is optional but if not present the default r n will be used If you want to omit the terminator entirely then specify Terminator A 3 1 5 7 NMEA checksum If this key and value are present an NMEA style checksum is added to the end of the message Page 175 A 3 1 5 8 WhenTimeout WhenTimeout can be used to specify an interval between successive outputs of the message Example WhenTimeout interval 5 0 The value must be enclosed in interval The value specifies a period in seconds between each output of the message If neither WhenTimeout or Trigger are specified the message will be output at the default rate of once per second Page 176 A 3 1 5 9 Trigger As an alternative to regular output intervals it is possible to trigger an output to occur on arrival of a specific
51. datum A 6 1 70 Cable PLC1 Raw Count Real Number Default caption in log files PLCc1 Raw Counts Default format specifier 2f Attribute flags TYPE_DOUBLE LOG_VALUE SCAN_SLOWLOG Encoder counter value from cable engine 1 this value will be scaled by the navslack encoder strain gauges scaling factors A 6 1 71 Cable PLC1 Raw Tension Real Number Default caption in log files PLCc1 Raw Tension Default format specifier 2f Attribute flags TYPE_DOUBLE LOG_VALUE SCAN_SLOWLOG Raw load cell tension value from cable engine 1 This value will be scaled by the navslack encoder strain gauges scaling factors Sk Page 254 A 6 1 72 Cable PLC2 Raw Count Real Number Default caption in log files PLCc2 Raw Counts Default format specifier 2f Attribute flags TYPE_DOUBLE LOG_VALUE SCAN_SLOWLOG Encoder counter value from cable engine 2 this value will be scaled by the navslack encoder strain gauges scaling factors A 6 1 73 Cable PLC2 Raw Tension Real Number Default caption in log files PLCc2 Raw Tension Default format specifier 2f Attribute flags TYPE_DOUBLE LOG_VALUE SCAN_SLOWLOG Raw load cell tension value from cable engine 2 This value will be scaled by the navslack encoder strain gauges scaling factors A 6 1 74 Cable PLC3 Raw Count Real Number Default caption in log files PLCc3 Raw Counts Default format specifier 2f Attribute flags TYPE_DOUBLE
52. files MRU Receiver Mode Default format specifier Ox 08x Attribute flags TYPE_LONG LOG_VALUE SCAN_SLOWLOG A set of bitflags describing how the primary MRU system is configured The least significant 3 bits indicate the primary MRU index this can be either 0 1 or 2 All other bits are reserved for possible future extensions A 6 1 222 Ship Offsets Grid1 Easting Real Number Default caption in log files Offset 1 Easting Default format specifier 3f Attribute flags TYPE_DOUBLE TYPE2_EAST SCAN_NOLOG LOG_VALUE Position easting of vessel offset 1 Offset 1 is the CRP A 6 1 223 Ship Offsets Grid1 Northing Real Number Default caption in log files Offset 1 Northing Default format specifier 3f Attribute flags TYPE_DOUBLE TYPE2_NORTH SCAN_NOLOG LOG_VALUE Position northing of vessel offset 1 Offset 1 is the CRP A 6 1 224 Ship Offsets Pos1 Alt Real Number Default caption in log files Offset 1 Altitude Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE SCAN_SLOWLOG LOG_VALUE Position altitude of vessel offset 1 Offset 1 is the CRP The altitude given here is in your selected working datum vertical reference which is not necessarily WGS84 sk Page 294 A 6 1 225 Ship Offsets Pos1 Elev Real Number Default caption in log files Offset 1 Elevation Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE
53. files Reverse Auto Pilot Direction Attribute flags TYPE_STRING SCAN_SLOWLOG LOG_VALUE The direction L or R that an autopilot should steer in order to stay on the active route line if the vessel needs to move in reverse A 6 1 35 AutoPilot SP2 Direction String Default caption in log files SP2 Auto Pilot Direction Attribute flags TYPE_STRING SCAN_SLOWLOG LOG_VALUE Old style name SP2AutoPilotDirection The direction L or R that an autopilot steering SP2 should steer in order to stay on the active route line A 6 1 36 AutoPilot SP2 ReversedDirection String Default caption in log files SP2 Reverse Auto Pilot Direction Attribute flags TYPE_STRING SCAN_SLOWLOG LOG_VALUE The direction L or R that an autopilot steering SP2 should steer in order to stay on the active route line if SP2 needs to move in reverse A 6 1 37 Beacon ID String Default caption in log files Beacon ID Attribute flags TYPE_STRING LOG_VALUE SCAN_NOLOG ID of the beacon from which a position was last received This will be something like A11 or B12 RTT inputs are also treated as beacons and if the position is for an RTT channel then then the beacon id will be something like RTT_01 Although Beacon X Beacon Y and Beacon Z are set to blank after logging the data to the HPR CSV log the Beacon ID value remains set to the ID of the last beacon received Beacon Pos Lat and Beacon Pos Lon remain set as
54. for anchor handling operations and is designed for use with anchor log files See AHT Act Time A 6 1 2 AHT Act Time String Default caption in log files Time Attribute flags TYPE_STRING TYPE2_TIME ASSOC_PREV The time time at which the action was requested This variable is for anchor handling operations and is designed for use with anchor log files A 6 1 3 AHT Action String Default caption in log files Action Attribute flags TYPE_STRING The anchor action requested This variable is for anchor handling operations and is designed for use with anchor log files A 6 1 4 AHT Anchor Name String Default caption in log files Anchor Attribute flags TYPE_STRING The name of the anchor for which an action is requested This variable is for anchor handling operations and is designed for use with anchor log files A 6 1 5 AHT Anchor Owner Page 236 String Default caption in log files Barge Attribute flags TYPE_STRING The name of the barge owning the anchor This variable is for anchor handling operations and is designed for use with anchor log files A 6 1 6 AHT Drop DeltaM X Real Number Default caption in log files Delta East m Default format specifier 0f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE SCAN_NOLOG The true X difference in position between the intended and actual drop position in metres This variable is for anchor handling operations and is de
55. if set to a non zero value Instead you should edit geocalc dat and add the appropriate tags to a copy of a suitable horizontal datum definition See Ticket 47 A 6 1 249 Ship WaterDepth Real Number Page 301 Default caption in log files Ship Water Depth Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE True water depth from the waterline from primary depth sounder This is water depth from the echo sounder adjusted to CRP level then compenstated for draft and heave A 6 1 250 Ship WaterDepth1 Real Number Default caption in log files Ship Water Depth 1 Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE True water depth from the waterline from depth sounder 1 This is water depth from the echo sounder adjusted to CRP level then compenstated for draft and heave A 6 1 251 Ship WaterLine Real Number Default caption in log files Ship WaterLine Altitude Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE The altitude of the ship waterline with respect to the working datum vertical reference geoid The value is calculated by taking Ship WaterLineWGS84 and datum shifting to the working datum A 6 1 252 Ship WaterLineWGS84 Real Number Default caption in log files Ship WaterLine Altitude WGS84 Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG
56. if the CRP is below the waterline and negative if above A 6 1 188 Ship AvgWaterLineWGS84 Real Number Default caption in log files Ship Average WaterLine Altitude WGS84 Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE The averaged altitude of the ship waterline with respect to the WGS84 geoid The value is calculated by taking Ship CRP AltitudeWGS84 and subtracting the sk Page 284 variable Ship Draft if it exists then adding Ship Heave Ship Draft should normally be defined as an input variable in the INI file Ship Heave is already defined and is normally configured to be input from a motion sensor If there is no heave sensor then Ship Heave is considered to be 0 heave is positive if the CRP is below the waterline and negative if above A 6 1 189 Ship CableEngines PrimaryChannel Integer Default caption in log files Primary Cable Channel Default format specifier d Attribute flags TYPE_LONG LOG_VALUE Primary cable engine channel number cable operations A 6 1 190 Ship CRP AltitudeWGS84 Real Number Default caption in log files Primary GPS CRP Altitude WGS84 Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE The altitude reported by the primary GPS receiver but translated to the CRP position This translation takes account of the height of the antenna as specified in the vessel definition and also any eff
57. information for this to be effective Each route point is converted from lat long altitide in order to calculate the distance along each route section The terrain distance for SP3 is therefore effectively the distance of SP3 along this undulating route If no route is active this variable value is undefined NAN blank Alter course radii are ignored by this calculation NOTE that the active route line should not only contain water depth information which is used to give an altitude value for each point but the waypoints should ideally be spaced close enough together such that the curvature of the earth is not of any great significance This is because the cartesian distance between each waypoint is used to compute the distance If waypoints are too far apart then the straight line between each may be sufficiently long to dip well below the seabed This will mean that the terrain distances will be shorter that may have been expected A 6 1 382 SP3 Route WaterDepth Real Number Default caption in log files SP3 Route survey Water Depth Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE SCAN_NOLOG LOG_VALUE The route KP as surveyed water depth value under SP3 The data here comes from the water depth information in the active route if present The value is otherwise undefined sk Page 338 A 6 1 383 SP3 Smoothed CMG Real Number Default caption in log files SP3 CMG Default format spe
58. input message or variable update You can actually specify more than one trigger condition Valid trigger names are of the format e InputChannel1 Message1 An input channel message e Portinput DeviceName A raw comms input channel where device name is a valid device name e Any valid variable name Any valid variable name can be used When the variable is updated then this will trigger output Page 177 You can have multiple trigger conditions for the output of a message Example Trigger InputChannel2 Message3 Portinput GYRO1 When using port device variable names such as PortInput GYRO1 in field specifiers the Trigger should also specify the same variable name If neither WhenTimeout or Trigger are specified the message will be output at the default rate of once per second Page 178 A 3 1 6 Nav1 Configures the built in GPS decoder Example Nav1 MsgName GPGGA MsgType 1 0 6 Time 2 0 0 gt GPS1 Time if no GGA Latitude 3 0 0 gt GPS1 Pos Lat LatitudeChar 4 0 0 Longitude 5 0 0 gt GPS1 Pos Lat LongitudeChar 6 0 0 GpsQuality F 0 0 p Sees Oaa NumSatellites 8 0 0 gt GPS1 NumSatellites HorizontalDilution 9 0 0 gt GPS1 HDOP Altitude 10 0 0 gt GPS1 Pos Alt GeoidalSeparation 12 0 0 gt GPS1 GeoidalSep DGPSAge 14 0 0 Nav2 MsgName SGPVTG MsgType 1 0 6 Heading 2 0 0 CMG from gps SpeedKmh 8 0 0 speed by gps Nav3 MsgName
59. integer containing the ASCII code value Note if the string is empty the returned value is 1 A 8 1 23 sgn x Obtains the sign of a numeric value Parameters x Numeric value Return Value The value 1 0 or 1 depending on the whether x is negative zero or positive respectively Page 365 A 8 1 24 sin x Compute sine Returns the sine of x Parameters x Floating point value Return Value The sine value of x A 8 1 25 sinh x Compute hyperbolic sine Returns the hyperbolic sine of x Parameters x Floating point value Return Value The hyperbolic sine value of x Page 366 A 8 1 26 sqrt x Compute square root Returns the square root of x Parameters x Floating point value If the argument is negative a domain error occurs a NAN will be returned Return Value Square root of x A 8 1 27 strcat s1 s2 Concatenate two strings Parameters s1 First string s2 Second string Return Value String s1 concatenated with s2 Page 367 A 8 1 28 strcmp s1 s2 Compare two strings This function starts comparing the first character of each string If they are equal to each other it continues with the following pairs until the characters differ or until the end of one of the the strings is reached Parameters s1 First string s2 Second string Return Value Returns an integral value indicating the relationship between the strings A zero value indicates that both strings ar
60. it last took BSPEngine to push status information to remote vessel 1 A 6 1 167 Remotes Vessel1 SP1 0ffset Name String Default caption in log files Remote Vessel 1 SP1 OffsetName Attribute flags TYPE_STRING SCAN_SLOWLOG For remote vessel 1 name of the vessel offset which is currently SP1 A 6 1 168 Remotes Vessel1 SP1 Pos Alt Real Number Default caption in log files Remote Vessel 1 SP1 Altitude Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE For remote vessel 1 The altitude of the SP1 offset A 6 1 169 Remotes Vessel1 SP1 Pos Lat Real Number Default caption in log files Remote Vessel 1 SP1 Latitude Attribute flags TYPE_DOUBLE TYPE2_LON UNIT_ANGLE LOG_VALUE For remote vessel 1 The latitude of the SP1 offset Page 279 A 6 1 170 Remotes Vessel1 SP1 Pos Lon Real Number Default caption in log files Remote Vessel 1 SP1 Longitude Attribute flags TYPE_DOUBLE TYPE2_LON UNIT_ANGLE LOG_VALUE For remote vessel 1 The longitude of the SP1 offset A 6 1 171 Remotes Vessel1 Stats Avg TimeDel ta Real Number Default caption in log files Remote Vessel 1 Receiver Avgd Time Delta Default format specifier 6f Attribute flags TYPE_DOUBLE UNIT_TIME SCAN_NOLOG The measured average time difference in seconds between local and remote vessels system clocks A 6 1 172 Remotes Vessel1 System Timestam p String Default c
61. no local movement of the survey station ETRS89 has been officially adopted as a standard coordinate system for precise GPS surveying by most national mapping agencies in Europe including Ordnance Survey NAVSYSTEMS L Blue Spider User Manual Jun 2013 Ss Page 409 C 1 1 4 LAT Lowest Astronomical Tide Many national charting agencies including the United Kingdom Hydrographic Office and the Australian Hydrographic Service use the Lowest Astronomical Tide LAT the height of the water at the lowest possible theoretical tide to define chart datum s LAT is the lowest levels which can be predicted to occur under average meteorological conditions Bases are the tide levels for the last 18 years The time interval of 18 years considers two oscillation periods substantial for fluctuation of tides the nutation wobbly rotation period of the Moon 18 6 years in the ecliptic and their effect the lunar nodal tidal constituent is the most important under the longer components of the tide The values for LAT are computed mathematically by a harmonic analysis Advantages world wide uniform map zero for sea charts no negative values in tide tables secure depth data the tide can hardly fall further The advantage of using LAT is that all tidal heights must then be positive or zero avoiding possible ambiguity and the need to explicitly state sign Calculation of the LAT only allows for gravitational effects so
62. on Remotes Vessel1 Stats Avg TimeDelta Remotes Vessel1 System Ti mestamp Remotes Vessel1 Time Delt a Remotes Vessel1 Time Esti mated Timestamp Route Direction Route Name Route Target Name Page 221 Description These variables are available for each remote vessel ID of remote vessel 1 Name of remote vessel 1 Averaged amount of time in seconds that it is taking BSPEngine to push status information to remote vessel 1 Amount of time in seconds that it last took BSPEngine to push status information to remote vessel 1 For remote vessel 1 name of the vessel offset which is currently SP1 For remote vessel 1 The altitude of the SP1 offset For remote vessel 1 The latitude of the SP1 offset For remote vessel 1 The longitude of the SP1 offset Measured average time difference in seconds between local and remote vessels system clocks System time and date string from remote vessel 1 Measured time difference in seconds between local and remote vessels system clocks System time and date string from remote vessel 1 taking account of push latency Direction of the currently active route Name of the active route line Name of the current target Variable Name Route Target1 Pos Lat Route Target1 Pos Lon Route Target1 WGS84 Pos L at Route Target1 WGS84 Pos L on RTT_01 Altitude RTT_01 Heading RTT_01 Pos Lat RTT_01 Pos Lon RTT _01 WaterDept
63. originating from a remote vessel and injects the data as if it were local HPR data It is used in the situation where a remote vessel has better or more accurate provision for receiving good quality HPR data It is possible to use local HPR and remote HPR at the same time as long as the beacon identifiers are unique Example RTT 02 Mode remote hpr Vessel The Survey Vessel The remote vessel is identified by name and must be configured as a remote vessel and operating over the wifi and or radio modem link The RTT channel communication port is configured to take BSPNet data directly from a BSPNet machine on the remote vessel Page 186 A 3 1 10 3 grid_input This mode is used whenever data in grid format easting northing is used It is otherwise very similar to the pos_input mode A 3 1 10 4 pos_input This is the general purpose versatile positioning input mode It can take in a position as latitude longitude or calculate a position from range and bearing or from relative DX DY There are a number of additional options here VesselRelative Setting VesselRelative 1 is used in the case of a range and bearing or DX DY modes to indicate that the vector is relative to the vessel rather than north relative FromOffset In the case of range and breaing or DX DY the vector may be from a specific vessel offset Setting FromOffset Stern Sheave tells BSPEngine that the position is to be calculated relative to a s
64. percentage for primary cable channel cable operations Smoothed cable speed in km h for the primary cable channel cable operations Smoothed cable tension in kN for the primary cable channel cable operations Raw cable speed in km h for the primary cable channel cable operations Raw cable tension in kN for the primary cable channel cable operations Distance along cable route cable operations Target slack percentage cable operations Desired cable speed based on required slack see Cable TargetSlack Target cable tension cable operations Clara calculation auto solve mode 0 no autosolve 1 use inclinometer angle 2 use top tension measurement Clara calculation cable name details Clara calculation manually set bottom tension Clara calculation manual seabed slope entered by user Clara calculation adjustment verb for internal use If the Clara calculation uses route slope then this has the value 1 If the Clara calculation uses route slope then this has the value 1 Sk Variable Name GPS1 Altitude GPS1 AltitudeWGS84 GPS1 CRP DX GPS1 CRP DY GPS1 CRP DZ GPS1 CRP Pos Alt GPS1 CRP Pos Lat GPS1 CRP Pos Lon GPS1 CRP WGS84 Pos Alt GPS1 CRP WGS84 Pos Lat GPS1 CRP WGS84 Pos Lon GPS1 Date Page 217 Description Altitude reported by the GPS receiver 1 Equivalent variables are available for GPS2 and 3 Altitude reported by the GPS receiv
65. raw data A HPR log can record the decoded HPR data You cannot specify a RatelnSeconds or a trigger condition Page 202 A 3 1 15 3 BaseFileName The BaseFileName key specifies the prefix on the name of the log file Log files are named by combining the prefix here with the date and time when the log file is started A 3 1 15 4 Extension The extension key specifies a file name extension The default is CSV If you are logging raw binary data using a Type Output log file then you may wish to specify a different file extension A 3 1 15 5 DurationinHours This keys value sets the maximum duration of the log file in hours When this time period expires a new log file will be started and the previous one will be copied to the remote destination A 3 1 15 6 RatelnSeconds This keys value sets the recording rate for the log file Fractions of a second are allowed A rate of zero is not allowed Setting the rate at close to zero will mean that logging will be performed as fast as possible but if set to fast then the required rate might not be achievable and warnings may occur The RatelnSeconds does not need to be specified as logging can be triggered to occur on arrival of incoming messages Sk Page 203 using However you must specify either a rate in seconds or a trigger using Trigger You can specify both a rate in seconds and a trigger condition but this will mean that logging will occur at the specified rate
66. same as EGM96 although local definitions can also exist C 1 2 EGM Geoid Library C 1 2 1 Introduction The EGM Geoid Library is an optional extra for use with Blue Spider BSPEngine and PPT EGM stands for Earth Geopotential Model and EGM96 is a spherical harmonic model of the Earth s gravitational potential complete to degree and order 360 EGM84 is an earlier model with less accuracy and EGM84 and WGS84 are often mistakenly confused with each other and there does not appear to be a standard terminology This is because WGS84 also refers to a model for MSL but this model is actually called EGM96 Both EGM84 and EGM96 are effectively models of the earth giving the distance between WGS84 ellipsoid height and the geoid height When we want altitudes to refer to mean sea level rather than the WGS84 ellipsoid we are actually using EGM96 Note that there are other local vertical reference systems such as DVR9O C 1 2 2 What is a Geoid The geoid surface is irregular unlike the reference ellipsoid which is a mathematical idealised representation of the physical Earth but considerably smoother than Earth s physical surface Although the physical Earth has excursions Sk Page 412 of 8 000 m Mount Everest and 11 000 m Mariana Trench the geoid s total variation is less than 200 m 106 to 85 m compared to a perfect mathematical ellipsoid Sea level if undisturbed by currents and weather would assume a Surface equal to the g
67. substring Searches s1 for the first occurance of s2 Parameters s1 String to be seached s2 String to search for index optional position to start seaching 0 is the first character position Return Value Integer 1 if not found otherwise the 0 based index of the begining of the string s2 in s1 A 8 1 33 strtolower s Convert string to lowercase Returns a string containing all upper case letters replaced with lower case equivalents Parameters s String Return Value String Page 371 A 8 1 34 strtoupper s Convert string to uppercase Returns a string containing all lower case letters replaced with upper case equivalents Parameters S String Return Value String A 8 1 35 substr s start len Extracts a part of a string Returns the portion of string specified by the start and length parameters Parameters start Zero based index of the start position len optional Number of characters to extract If this parameter is omitted then the remainder of s will be returned Return Value Returns the extracted part of string Page 372 A 8 1 36 tan x Compute tangent Returns the tan of x Parameters x Floating point value Return Value The tan value of x A 8 1 37 tanh x Compute hyperbolic tangent Returns the hyperbolic tan of x Parameters x Floating point value Return Value The hyperbolic tan value of x A 8 1 38 value x Converts a string to a number A stri
68. suicide and terminate if the memory usage goes above a threshold limit The value here is specified in bytes Setting a value of zero means that no limit is set and this is the default This value should only be set in the unlikely event that there is suspected problem with the software and if specifically advised to do so Page 163 A 3 1 1 16 StopSystemTimeGPSAdjustment By default BSPEngine does NOT synchronize the computer system time to GPS time You can set this key to 0 to enable the feature but it is not recommended Synchronisation of the computer time to GPS time is not accurate enough to be worthwhile and can lead to unexpected behaviour Common sense would say that the computer time should be synchronized to GPS time but the GPS data is typically only received once a second and slight variations in latency and computer performance may cause slight variation in the system time if constantly being adjusted so use initially and then disable the updating with a 1 Page 164 A 3 1 1 17 SQLServer This specifies the machine name or IP address of an SQL server for use with the SQL logging feature If the SQL server is running on the same machine as BSPEngine then specify localhost as the SQL server address A 3 1 1 18 SQLPort The default value is 3306 A 3 1 1 19 SQLUserName This is the user name for accessing the SQL server A 3 1 1 20 SQLPassword This is the password for accessing the SQL server Page 165
69. when heading is known E g 5 E 5 Ok Apply Cancel All of the options that apply to vessel definitions are also available for mobiles See 2 1 5 Display Tab p 40 Page 60 2 2 6 Alignment Tab This is identical to that for a vessel See 2 1 6 Alignment Tab p 44 2 2 7 3D Files Tab This is identical to that for a vessel See 2 1 7 3D Files Tab p 47 Note Bone animation can also be used for mobiles and even for stationary objects It works in the same way for all and just requires connection of BSPEngine variables to bone information optionally via a script Page 61 2 3 Master Slave The Master Slave dialog box provides clues that the primary system and the backup system are both healthy The dialog box should look like this peli BoxA Communications setup BoxB NAVDEV2 NAVDEV2 X Cancel Master Master Slave INI file BSPEngine ini 9 Slave Config Report The service is running The service is running Shirt EN 7 Allow automatic master slave changeover in the event of failure of either machine BSPNet The RPC server is unavailable means that the server is either switched off is not connected to the network cannot be seen by this computer or for some other reason cannot be seen by this computer for example Active Directory or User Account problems This is not an acceptable condition if the Master Slave redundancy is required and must not be ignor
70. 1 Anticipate dSize Page 219 Description Heading value from HPR message only a few HPR message types are likely to have this data Heave value from HPR message only a few HPR message types are likely to have this data Pitch value from HPR message only a few HPR message types are likely to have this data Roll value from HPR message only a few HPR message types are likely to have this data These variables are available for each backup log file Anticipated size of the backup log file 1 in bytes Size of the backup log file 1 in bytes UNC filename of the backup log file 1 Cable line name DEPRECATED do not use will only output empty string Cable line number string Cable type string Fix comment string These variables are available for each configured log file Configured type of the primary log file 1 Caption name of log file 1 Fix description string Last event number used when writing to CSV log files Last fix SP when writing to CSV log files Last fix number used when writing to CSV log files These variables are available for each primary log file Anticipated size of the primary log file 1 in bytes sk Variable Name Logging Primary1 FileSize Logging Primary1 Unc MRU1 Heave MRU1 Pitch MRU1 Roll Option SpeedGaugeKmh M ax Option SpeedGaugeKmh Mi n Option TensionGaugeKN M ax Option TensionGaugeKN Mi n PrimaryGPS Altitude PrimaryGPS Alti
71. 1 Logging of vessel track and roll period Relevant parts of INI file Nav1 MsgName SGPGGA MsgType 1 0 6 Time 2 0 0 Latitude 3 0 0 LatitudeChar 4 0 0 Longitude 5 0 0 LongitudeChar 6 0 0 GpsQuality 7 0 NumSatellites 8 0 0 HorizontalDilution 9 0 0 Altitude 10 0 0 GeoidalSeparation 12 0 0 DGPSAge 14 0 0 Nav2 sgName SGPVTG MsgType 1 0 6 Heading 2 0 0 SpeedKmh 8 0 0 Nav3 MsgName SGPZDA MsgType 1 0 0 Time 271070 Day 3 0 0 onth 4 0 0 NAVSYSTEMS Blue Spider User Manual Jun 2013 sk Page 395 Year 5 0 0 Gyrol MsgName SHEHDT MsgType 1 0 6 Heading 2 0 0 VarHistory Ship Motion Roll seconds 120 Variables Ship Motion Roll MRU1 Roll Ship Motion RollPeriod 1 0 Freq historyOf Ship Motion Roll LogFilel Title GPS Type Standard BaseFileName Wesiscimilaac kag DurationInHours 2 RateInSeconds 4 Fieldl System Dat heading Date Field2 System Tim heading Time Field3 GPS1 Pos Lat heading Latitude Field4 GPS1 Pos Lon heading Longitude Field5 Gyrol Heading heading Ship Heading format 3f Field6 Ship Motion Roll heading Ship Roll format 3f Field7 Ship Motion RollPeriod heading Roll Period format 3 Sample output Date Time Latitude Longitude Ship Heading Ship Roll Roll Period Page 396 12 10 2012 10 24 10 89 24 15 236628 S 148 4
72. 131 HPR Ancilliary Heave Real Number Default caption in log files Heave from HPR Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE SCAN_NOLOG Heave value from HPR message only a few HPR message types are likely to have this data A 6 1 132 HPR Ancilliary Pitch Real Number Default caption in log files Pitch from HPR Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_ANGLE UNIT2_DEGREES LOG_VALUE SCAN_NOLOG Pitch value from HPR message only a few HPR message types are likely to have this data A 6 1 133 HPR Ancilliary Roll Real Number Default caption in log files Roll from HPR Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_ANGLE UNIT2_DEGREES LOG_VALUE SCAN_NOLOG Roll value from HPR message only a few HPR message types are likely to have this data A 6 1 134 Logging Backup1 AnticipatedSize sk Page 270 String Default caption in log files Backup Log 1 Anticipated File Size Attribute flags TYPE_STRING SCAN_NOLOG Anticipated size of the backup log file 1 in bytes A 6 1 135 Logging Backup1 FileSize String Default caption in log files Backup Log 1 Filesize Attribute flags TYPE_STRING SCAN_NOLOG Size of the backup log file 1 in bytes A 6 1 136 Logging Backup1 Unc String Default caption in log files Backup Log 1 UNC Attribute flags TYPE_STRING SCAN_SL
73. 2 Use of KMSTrLib KMSTrLib is a transformation library provided by the Danish Ministry of the Environment that we use to perform the vertical datum transformation BSPEngine and Blue Spider have been extended to support use of this library in order to perform this height transformation The DLL and data files used by KMSTrLib are included in the latest Blue Spider installation In order to allow selection of the correct vertical datum the geocalc dat file has been updated to include metadata stating that the DVR90 vertical reference should be used for selected datums sk Page 418 Blue Spider ascertains via the datum metadata whether DVR9O height adjustment is to be performed See http www kms dk English Geodesy and Surveving Tr ansformation C 2 3 GPS Receiver Datum BSPEngine expects the raw position and altitude information received from all GPS receivers and other positioning devices to be in the WGS84 datum If any other input datum should ever need to be used then a software modification will be required C 2 4 Datum Shifts If the operator has selected a datum other than WGS84 then positions and altitude from the GPS systems are automatically shifted to this working datum C 2 5 Vessel Offsets and Steer Points The vessel definition defines the relative XYZ position of every possible steer point and also the positions of GPS antenna and other equipment These offsets are defined relative to the CRP Common Ref
74. 248 A 6 1 48 Cable AUX1 Speed Real Number Default caption in log files Raw Aux1 Cable Speed Default format specifier 2f Attribute flags TYPE_DOUBLE UNIT_SPEED UNIT2_KM_H LOG_VALUE Raw cable speed in km h for the aux1 cable channel cable operations A 6 1 49 Cable AUX1 Tension Real Number Default caption in log files Raw AUX 1 Cable Tension Default format specifier 1f Attribute flags TYPE_DOUBLE LOG_VALUE Raw cable tension in KN for the AUX1 cable channel cable operations A 6 1 50 Cable AUX2 Length Real Number Default caption in log files AUX 2 Cable Length Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE UNIT2_KM LOG_VALUE Cable length in kilometres for the AUX2 cable channel cable operations A 6 1 51 Cable AUX2 SlackFromSectionStart Real Number Default caption in log files AUX 2 Slack From Section Start Default format specifier 1f Attribute flags TYPE_DOUBLE UNIT_RATIO UNIT2_PERCENT LOG_VALUE Smoothed slack percentage from section start for AUX2 cable channel cable operations sk Page 249 A 6 1 52 Cable AUX2 Smoothed Slack Real Number Default caption in log files AUX 2 Smoothed Slack Default format specifier 1f Attribute flags TYPE_DOUBLE LOG_VALUE Smoothed slack percentage for AUX2 cable channel cable operations A 6 1 53 Cable AUX2 Smoothed Speed Real Number Default caption in l
75. 27 21im Bearing 262 03 Rel Bearing 262 03 From Latitude 1 29 33708N Longitude 07 01 89582 E To Latitude 51 29 29766N Longtude007 01 44480E KP 0 009km DOL Target Placement Details Once placed data in the form of Range and Bearing from the anchor fairlead will be displayed at the bottom of the screen If it is found that the range bearing is unsuitable then the target can be moved again merely by clicking at a different location The Target will not be passed to the AHT until the Request Drop Button within the Request Anchor Drop dialog is pressed Page 135 4 3 4 Operation at Tug for Deployment oie EO Qe Vk ol 6 xv RM Basic Tug Screen Initially at the Tug both Anchor Dropped and Anchor Recovered are greyed out this indicates that no operations are currently required by the AHT Once an anchor operation is passed the relevant button will change to green Page 136 sete I Utes re Ay olh 2 Tug 1 HATHI Speed 1 82 km h g 41245285 Nothing 6167620189 Absolute Relative Anchor Drop requested Here anchor Number 2 has been selected as the target The tug will follow the range and bearing to the drop location The tug can follow the brown dashed line to take it to the target as well Once the anchor has been dropped on the target the Confirm Anchor Drop window pops up Click To Adjust Position on screen and move target cross hair pointer to the dropped position Press the Dro
76. 2_DEGREES LOG_VALUE Grid heading based on delta easting northing and not a true direction This is computed using mobile heading obtained the vehicle gyro or other source unless SP2 is an offset on the ship in which case the ship heading is used A 6 1 347 SP3 Heading Page 328 Real Number Default caption in log files SP3 Heading Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_ANGLE UNIT2_DEGREES LOG_VALUE The true heading for SP3 A 6 1 348 SP3 LaybackBearing Real Number Default caption in log files SP3 Layback Bearing Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_ANGLE UNIT2_DEGREES LOG_VALUE SCAN_NOLOG The layback bearing of SP3 from the Ship LaybackPoint A 6 1 349 SP3 LaybackDistance Real Number Default caption in log files SP3 Layback Distance Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE SCAN_NOLOG The layback distance of SP3 from the Ship LaybackPoint A 6 1 350 SP3 LaybackMode String Default caption in log files SP3 LaybackMode Attribute flags TYPE_STRING The positioning mode of the vehicle which is currently SP3 A 6 1 351 SP3 Motion Pitch Page 329 Real Number Default caption in log files SP3 Pitch Default format specifier 2f Attribute flags TYPE_DOUBLE UNIT_ANGLE UNIT2_DEGREES LOG_VALUE The pitch of SP3 in degrees as obtained from a motion senso
77. 3 1 Derived Heading Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_ANGLE UNIT2_DEGREES LOG_VALUE Computed raw vessel heading derived from GPS3 to GPS1 vector A 6 1 126 Gyro1 Corr Heading Real Number Default caption in log files GYRO1 Heading Default format specifier 2f Attribute flags TYPE_DOUBLE UNIT_ANGLE UNIT2_DEGREES LOG_VALUE S Page 268 The adjusted heading in degrees reported by GYRO 1 A 6 1 127 Gyro1 Heading Real Number Default caption in log files GYRO1 Heading Default format specifier 2f Attribute flags TYPE_DOUBLE UNIT_ANGLE UNIT2_DEGREES LOG_VALUE The adjusted heading in degrees reported by GYRO 1 A 6 1 128 Gyro1 Message String Default caption in log files HDT1 msg Attribute flags TYPE_STRING SCAN_NOLOG Message string from the gyro 1 input A 6 1 129 Gyro1 Raw Heading Real Number Default caption in log files Raw GYRO1 Heading Default format specifier 2f Attribute flags TYPE_DOUBLE UNIT_ANGLE UNIT2_DEGREES LOG_VALUE The raw heading in degrees reported by GYRO 1 A 6 1 130 HPR Ancilliary Heading Real Number Default caption in log files Heading from HPR Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_ANGLE UNIT2_DEGREES LOG_VALUE SCAN_NOLOG sk Page 269 Heading value from HPR message only a few HPR message types are likely to have this data A 6 1
78. 6 1 365 SP3 Pos Alt Real Number Default caption in log files SP3 Altitude Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE The position of SP2 altitude The position given here is in your selected working datum vertical reference which is not necessarily WGS84 A 6 1 366 SP3 Pos Elev Real Number Page 333 Default caption in log files SP3 Elevation Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE The elevation of SP3 above the seabed A 6 1 367 SP3 Pos Lat Real Number Default caption in log files SP3 Latitude Attribute flags TYPE_DOUBLE TYPE2_LAT UNIT_ANGLE LOG_VALUE The geodetic position of SP3 latitude The position given here is in your selected working datum which is not necessarily WGS84 A 6 1 368 SP3 Pos Lon Real Number Default caption in log files SP3 Longitude Attribute flags TYPE_DOUBLE TYPE2_LON UNIT_ANGLE LOG_VALUE The geodetic position of SP3 longitude The position given here is in your selected working datum which is not necessarily WGS84 A 6 1 369 SP3 Positioning String Default caption in log files SP3 Positioning Attribute flags TYPE_STRING The positioning mode of the vehicle which is currently SP3 A 6 1 370 SP3 Relative DX Real Number Default caption in log files SP3 dx Default format specifier 2f Page 334 Attribute flags TYPE_DOUBL
79. 6 451858 E 193 300 0 488 10 005 12 10 2012 10 24 14 95 24 15 310595 S 148 46 354297 E 197 100 0 088 10 005 12 10 2012 10 24 18 99 24 15 394518 S 148 46 247395 E 196 500 0 635 9 994 12 10 2012 10 24 23 04 24 15 459977 S 148 46 160460 E 197 100 0 965 10 001 12 10 2012 10 24 27 09 24 15 535678 S 148 46 064371 E 194 600 0 953 9 992 12 10 2012 10 24 31 13 24 15 610784 S 148 45 966254 E 196 800 0 617 10 004 12 10 2012 10 24 35 19 24 15 684840 S 148 45 869845 E 194 600 0 066 9 994 12 10 2012 10 24 39 24 24 15 760531 S 148 45 771607 E 187 500 0 525 9 994 12 10 2012 10 24 43 29 24 15 835372 S 148 45 674750 E 192 600 0 901 10 005 12 10 2012 10 24 47 33 24 15 909588 S 148 45 575479 E 187 500 0 989 10 000 12 10 2012 10 24 51 38 24 15 985196 S 148 45 479281 E 179 800 0 711 10 005 Nav1 to Nav3 sections configure the built in GPS decoder Gyro1 section configures the built in gyro decoder The VarHistory section sets up history recording for the Ship Motion Roll variable The Variables section defines this variable and the RollPeriod variable is defined using the freq function which performs a frequency counter operation on the history of the Ship Motion Roll LogFile1 section defines the layout and headings for the log file sets up the logging rate and duration of the log file Page 397 A 13 2 Logging of raw or filtered AIS data Relevant parts of INI file CustomDataOutputFormatl Delimiter Terminator Pielii P
80. 7 300 00 a c5 2 452 2 449 300 00 a c6 3 149 3 145 300 00 afc 3 768 3 762 300 00 a c 8 4 547 4 540 300 00 a c3 5 923 5 915 300 00 a c 10 8 584 8 576 NAVSYSTEMS k Blue Spider User Manual Jun 2013 S Page 113 3 1 10 Curve Radius Options Once the Track Properties box is open the Route Lines Points and Targets page can be closed The Track properties will remain on the screen allowing the curves to be observed while they are being created The curves are created in real time while the adjustments are being made I Labels Visible T Hazard Zone raide guard ines 7 Marker Symbols Page 114 3 1 11 Grid Altitude and Terrain Options There are options in Routes to display less used options these are Grid KP WGS84 Altitude Terrain Distances Guard Line Points Clients who are members of the Flat Earth Society may require Blue Spider to log and display information in Grid WGS84 Altitude will show the GPS height of the seabed point from the WGS84 ellipsoid The Terrain distance is the distance along the ground taking slopes into account CE ET ET EU 99 532 99 548 99 735 48 547 99 541 99 557 99 744 48 547 99 551 99 568 99 754 48 548 99 561 99 577 99 763 48 548 99 571 99 587 99 774 48 549 99 580 99 597 99 783 48 549 99 591 99 607 99 793 48 549 99 600 99 617 99 803 48 550 100 814 100 831 101 017 48 595 NAVSYSTEMS Blue Spider User Manual Jun 2013 sk Page
81. 715685 48 5715682 44 5715677 42 5715673 40 5715669 38 I 34 91100 N i 5715669 38 415 N P 5715665 91 34 90731 N 5715662 45 34 90546 N 5715658 98 The sign to the right of the Route name is an indication that there are repeated points in the Route These are not generally a problem but it is still worthwhile investigating the data and removing one or more of the duplicated positions NAVSYSTEMS k Blue Spider User Manual Jun 2013 Ss Page 102 3 1 4 1 Route Options The bottom of the page shows two option select boxes these are easily overlooked Reverse Route Increasing KP Using these options it is possible to rearrange the points in the route to match the KPs in the RPL The key here is that Blue Spider will never import KPs from any file it will always calculate them Therefore it is possible to import a Route from an Excel sheet only to find that the KP scale is the wrong way around Blue Spider also makes the assumption that the first coordinate imported relates to 0 000 KP It may not be The value of the 1 KP in Blue Spider can be changed after the data is imported All other values will automatically update Page 103 After importing the Route data the following checks should be carried out in Blue Spider Does the 1 KP in the RPL Route Position List agree with the 1 KP in Blue Spider Are the KP s incrementing in the same direction as on the RPL Does the last K
82. AND when the trigger condition is true For Type Output log files the trigger and rates are ignored The log file is written to as a result of the output being triggered RatelnSeconds can only be specified for Standard logs Normal logs are all written at the rates defined in the logging configuration dialog A 3 1 15 7 MaxFileSizelnBytes This keys value places a constraint on the file size When the file is about to exceed the specified size a new log file will be started and the previous one copied to the remote destination If DurationinHours or MaxLines are also specified then it is the first of these conditions that will cause a new log file to be created A 3 1 15 8 MaxLines To limit the maximum number of lines in a file you can specify this limit here Page 204 A 3 1 15 9 Trigger This keys value sets a number of possible trigger conditions that will cause a write to the log file to occur You can use any variable name or a list of variable names as the value of this key If you specify more than one variable name then logging will occur as each of the variables change In most cases a single variable should be specified Trigger can only be specified for Standard logs For Type Output log files the trigger and rates are ignored The log file is written to as a result of the output being triggered You must instead specify the trigger condition for the output CustomOutputFormat1 etc rather than the
83. AN_SLOWLOG LOG_VALUE The smoothed SP2 course made good in degrees A 6 1 330 SP2 Smoothed Speed Real Number Default caption in log files SP2 SpeedMS Default format specifier 4f Attribute flags TYPE_DOUBLE UNIT_SPEED SCAN_UNIT_ALIAS SCAN_SLOWLOG LOG_VALUE The smoothed SP2 speed in metres per second A 6 1 331 SP2 Smoothed SpeedKmh Page 324 Real Number Default caption in log files SP2 Speed Default format specifier 4f Attribute flags TYPE_DOUBLE UNIT_SPEED UNIT2_KM_H SCAN_SLOWLOG LOG_VALUE The smoothed SP2 speed in kilometres per hour A 6 1 332 SP2 SP1Relative DX Real Number Default caption in log files SP1 to SP2 dx Default format specifier 2f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE SCAN_NOLOG The delta X offset of SP2 from the vessel SP A 6 1 333 SP2 SP1Relative DY Real Number Default caption in log files SP1 to SP2 dx Default format specifier 2f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE SCAN_NOLOG The delta Y offset of SP2 from the vessel SP A 6 1 334 SP2 SP1Relative DZ Real Number Default caption in log files SP1 to SP2 dx Default format specifier 2f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE SCAN_NOLOG The delta Z offset of SP2 from the vessel SP A 6 1 335 SP2 Speed Page 325 Real Number Default caption in log files SP2 Speed Default format speci
84. AVSYSTEMS k Blue Spider User Manual Jun 2013 Ss Page 443 When motion is enabled the pitch and roll and heave motion output data will vary but in addition for some motions gyro yaw and GPS data all motions may also be adjusted
85. BSPEngine Page 93 In the following example there are three other considerations to be taken in to account CustomI nputFormat CustomInputChannel Connecting the Format to the Channel Every input format must have a unique number Every Input format must be linked to a channel It is possible and likely to have more than one input format assigned to an input channel For example if decoding the GGA ZDA and VTG formats of a GPS receiver The Format and the Channel are connected with the Message line Message1 CustominputFormat1 This is the only time the CustomInputFormat No is used The Input Channels relate to these Communications tabs M Pot COM3 g Server Name CustomInputFormat1 MsgName Msg Fiel Fiel Fiel Fiel Fiel Fiel Fiel Fiel Fiel Fiel ype dl d2 d3 d4 d5 d6 a7 d8 dg d10 Fiel Terminator CustomInputChannel1 Messagel lL tL Page 94 SPLOW 1 0 0 20 0 p Plougin zoiren 3700 Front soll 4 0 0 Plough Lay Cable Tension B70 Pp Eough Bur ral Depth 6 0 0 Plough Water Depth 7 0 0 Plough Steering Angle 8 0 0 Eough Tow Length 9 0 0 Plough Depressor Height 10 0 0 Plough Tow Force 11 0 0 Plough Heading 12 0 0 Plough Trench Depth HAE Waly CustomInputFormatl More information relating to custom input decoding can be found in A 3 1 3 CustomInputFormatt p 166 Page 95 2 14 CSV Logging Dat
86. DOUBLE UNIT_DISTANCE LOG_VALUE The altitude position of SP1 in WGS84 A 6 1 288 SP1 WGS84 Pos Lat Real Number Default caption in log files SP1 Latitude WGS84 Attribute flags TYPE_DOUBLE TYPE2_LAT UNIT_ANGLE LOG_VALUE The geodetic position of SP1 latitude The position given here is in WGS84 A 6 1 289 SP1 WGS84 Pos Lon Real Number Default caption in log files SP1 Latitude WGS84 Attribute flags TYPE_DOUBLE TYPE2_LON UNIT_ANGLE LOG_VALUE The geodetic position of SP1 longitude The position given here is in WGS84 A 6 1 290 SP2 Grid Easting Real Number Default caption in log files SP2 Easting Default format specifier 2f Attribute flags TYPE_DOUBLE TYPE2_EAST SCAN_NOLOG LOG_VALUE The grid position of SP2 easting The position given here is according to your selected map projection and datum A 6 1 291 SP2 Grid Northing Real Number Page 313 Default caption in log files SP2 Northing Default format specifier 2f Attribute flags TYPE_DOUBLE TYPE2_NORTH SCAN_NOLOG LOG_VALUE The grid position of SP2 northing The position given here is according to your selected map projection and datum A 6 1 292 SP2 GridHeading Real Number Default caption in log files SP2 Grid Heading Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_ANGLE UNIT2_DEGREES LOG_VALUE Grid heading based on delta easting northing and not a true di
87. E TYPE2_EAST SCAN_NOLOG LOG_VALUE Position easting of SP3 offset 1 Offset 1 is the CRP A 6 1 357 SP3 Offsets Grid1 Northing Real Number Default caption in log files SP3 Offset 1 Northing Default format specifier 3f Attribute flags TYPE_DOUBLE TYPE2_NORTH SCAN_NOLOG LOG_VALUE Position northing of SP3 offset 1 Offset 1 is the CRP A 6 1 358 SP3 Offsets Pos1 Alt Real Number Default caption in log files SP3 Offset 1 Altitude Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE SCAN_SLOWLOG LOG_VALUE Position altitude of SP3 mobile or ship offset 1 Offset 1 is the CRP The altitude given here is in your selected working datum vertical reference which is not necessarily WGS84 Sk Page 331 A 6 1 359 SP3 Offsets Pos1 Elev Real Number Default caption in log files SP3 Offset 1 Elevation Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE SCAN_SLOWLOG LOG_VALUE Elevation from seabed to mobile vessel offset Offset 1 is the CRP The elevation given here is the depth in metres from the given vehicle offset to the seabed An adjustment is made from the position of the altimeter echo sounder to the vehicle offset by taking account of pitch and roll of the vehicle The seabed is assumed to be flat as the given offset could be a short distance away from the altimeter which will mean that the depth given here is not tr
88. E UNIT_DISTANCE LOG_VALUE SCAN_NOLOG The delta X offset of SP3 from the vessel CRP A 6 1 371 SP3 Relative DY Real Number Default caption in log files SP3 dy Default format specifier 2f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE SCAN_NOLOG The delta Y offset of SP3 from the vessel CRP A 6 1 372 SP3 Relative DZ Real Number Default caption in log files SP3 dz Default format specifier 2f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE SCAN_NOLOG The delta Z offset of SP3 from the vessel CRP A 6 1 373 SP3 Route Arc DOL Real Number Default caption in log files SP3 Arc DOL Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE The route arc DOL value of SP3 This is the perpendicular distance from route line On the outer corner of an alter course it is the distance from the corner arc Alter course radii if present are used in this calculation A 6 1 374 SP3 Route Arc KP Real Number Default caption in log files SP3 Arc Kp Page 335 Default format specifier 3f Attribute flags TYPE_DOUBLE TYPE2_KP UNIT_DISTANCE UNIT2_KM LOG_VALUE SCAN_NOLOG The route arc KP value of SP3 This is the straight line distance along the route If no route is active this variable value is undefined NAN blank Alter course radii if present are used in this calculation A 6 1 375 SP3 Route DOL Real Number Def
89. E OTS CENTER Page 42 In this screen shot 2 range rings represent 50m and 100m around the target The vessel has a proximity alarm of 50m The alarm on the left diagram is not yet activated since the CRP of the vessel is not yet within the 50m proximity zone of the target If the CRP of the vessel passes within 50m of the target then the alarm is activated as shown on the right diagram The alert is indicated by the change of colour of the ring around the vessel offset NOTE that the alert is triggered from the steerpoint of the vessel to the target not the closest point of approach If the target is another vessel then the circles are around each vessels current steerpoint This may be modified in a later version of Blue Spider s P TODO Stuart see me please will you D sr correct the above drawing VCTEN I ar User Manual Jun 2013 k Page 43 2 1 5 3 Appearance Minimum Display Size This option only pertains to the 2D display in Blue Spider If selected then if you zoom out on the plan view such that the ship would disappear to a tiny speck then instead the ship is drawn at the specified size in cm but is also animated so it grows from a tiny point to the minimum size This feature makes it possible to quickly locate the ship when zoomed right out This feature does not apply to the 3D viewer where instead you can use the locator circles option as an alternative Page 44 2 1 6 Alignment Tab T
90. EE Fie Edit View Tools Help l 0 Syla ae Properties ax Info Coor RC x Ne 15 0 57 0 15 8 40 7 13 0 477 10 0 52 0 5 0 56 0 0 0 57 5 5 0 56 0 10 7 52 0 13 7 477 15 7 40 7 15 7 57 5 10 7 57 5 10 7 58 9 0 0 58 9 X 4 Import Export Calculate __ oa 61 69m 52 12m Ref Points Alignment Display Anchors Outline The vessel shape is created on a grid where X is right and Y is up Points are created sequentially around the outside of the vessel to create the ship shape The X and Y readout bottom left help create the shape but it is easier to plan the vessel shape coordinates on paper initially The outline colour can also be set here Page 37 You can import an outline from file or if you already have a 3D definition an outline can be created automatically using the Calculate button This builds an outline by tracing the outline of the 3D shape However before considering the use of this option you need to ensure that your 3D model is correctly aligned If your 3D model drawing origin is identical to the CRP then this is not a problem but more often than not the origin of the model might not coincide exactly Aligning a 3d model is easiest with an existing outline and POI points For more information see 2 1 6 Alignment Tab p 44 2 1 3 1 Saving and loading an outline The outline can be imported and exported as
91. EMS X Blue Spider User Manual Jun 2013 Ss Page 22 A 7 2 2 1_ Date and time formats A 7 2 2 2 Latitude and longitude _A 7 3 Variable calculation dependenc Pr A8 an AELE E Eee A a 1 5 ro en A 8 1 6 ga ee een ree A 8 1 7 atan2 y x A 8 1 8 atanh A 8 1 9 bin2hex A 8 1 10 BEAN A8 1 12 A8115 A8116 A8 1 17 hex A8 1 18 A8119 25 oh 29 ailan p s1 S2 NAVSYSTEMS L Blue Spider User Manual Jun 2013 SS Page 23 30 stripos s1 2 index 369 31 strlen s 69 A 8 2 Special fl AB 2 1 iim x _A 8 5 A Q History Ok _A 9 1 Prope A 9 1 1 lengin A 9 1 2 timeRan A 9 1 3 rateHz ne aks A 9 1 4 secondsPerSample 005 2 380 8 avgmod2pi eue i 9 EA aad a NAVSYSTEMS L Blue Spider User Manual Jun 2013 SK ci 2 A The EGM Geoid roe Install 414 NAVSYSTEMS kX Blue Spider User Manual Jun 2013 Ss Page 25 eu 416 417 wee 418 420 anal _C 2 Guide to using vertical datums
92. ING TYPE2_DATE ASSOC_PREV SCAN_NOLOG The time date of SP1 GPS DD MM YYYY as received from the primary GPS receiver A 6 1 257 SP1 GPS AltitudeWGS84 Real Number Default caption in log files Primary GPS Altitude WGS84 Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE The altitude reported by the primary GPS receiver IBSPEngine expects all GPS receivers to output position in WGS84 and this means the altitude is also with respect to the WGS84 geoid The altitude here is the altitude of the antenna not the CRP This variable is an alias of Ship GPS AltitudeWGS84 A 6 1 258 SP1 GPS GeoidalSeparation Real Number Default caption in log files Primary GPS Geoidal Separation Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE The altitude reported by the primary GPS receiver IBSPEngine expects all GPS receivers to output position in WGS84 and this means the altitude is also with respect to the WGS84 geoid The altitude here is the altitude of the antenna not the CRP This variable is an alias of Ship GPS AltitudeWGS84 A 6 1 259 SP1 GPS HDOP Real Number Default caption in log files Primary GPS HDOP Default format specifier 1f Attribute flags TYPE_DOUBLE LOG_VALUE Page 304 The primary GPS HDOP horizontal dilution of precision as received from the primary GPS receiver This variable is an alias of Ship GPS HDOP
93. LOG_VALUE SCAN_SLOWLOG Encoder counter value from cable engine 3 this value will be scaled by the navslack encoder strain gauges scaling factors A 6 1 75 Cable PLC3 Raw Tension Real Number Default caption in log files PLCc3 Raw Tension Default format specifier 2f Attribute flags TYPE_DOUBLE LOG_VALUE SCAN_SLOWLOG Page 255 Raw load cell tension value from cable engine 1 This value will be scaled by the navslack encoder strain gauges scaling factors A 6 1 76 Cable Pos Alt Real Number Default caption in log files Cable Altitude Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE The geodetic position of cable detector altitude The position given here is in your selected working datum which is not necessarily WGS84 A 6 1 77 Cable Pos Lat Real Number Default caption in log files Cable Latitude Attribute flags TYPE_DOUBLE TYPE2_LAT UNIT_ANGLE LOG_VALUE The geodetic position of cable detector longitude The position given here is in your selected working datum which is not necessarily WGS84 A 6 1 78 Cable Pos Lon Real Number Default caption in log files Cable Longitude Attribute flags TYPE_DOUBLE TYPE2_LON UNIT_ANGLE LOG_VALUE The geodetic position of cable detector latitude The position given here is in your selected working datum which is not necessarily WGS84 A 6 1 79 Cable Primary Length Real Number De
94. LUE Speed gauge range max This variable gives the minimum range of the speed gauge in NavSlack A 6 1 154 Option SpeedGaugeKmh Min Real Number Default caption in log files Option Speed Gauge Kmh Min Attribute flags TYPE_DOUBLE UNIT_SPEED UNIT2_KM_H SCAN_SLOWLOG LOG_VALUE Speed gauge range min This variable gives the minimum range of the speed gauge in Navslack Sk Page 275 A 6 1 155 Option TensionGaugeKN Max Real Number Default caption in log files Option Tension Gauge kN Max Attribute flags TYPE_DOUBLE UNIT_FORCE UNIT2_KN SCAN_SLOWLOG LOG_VALUE Tension gauge range max This variable gives the minimum range of the tension gauge in Navslack A 6 1 156 Option TensionGaugeKN Min Real Number Default caption in log files Option Tension Gauge kN Min Attribute flags TYPE_DOUBLE UNIT_FORCE UNIT2_KN SCAN_SLOWLOG LOG_VALUE Tension gauge range min This variable gives the minimum range of the tension gauge in NavSlack A 6 1 157 PrimaryGPS Altitude Real Number Default caption in log files Primary GPS Altitude Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE SCAN_ALIAS LOG_VALUE The altitude reported by the primary GPS receiver BSPEngine expects all GPS receivers to output position in WGS84 and this means the altitude is also with respect to the WGS84 geoid The altitude here is the altitude of the antenna not the CRP This variable is an
95. Number Default caption in log files Easting Default format specifier Of Attribute flags TYPE_DOUBLE TYPE2_EAST LOG_VALUE SCAN_NOLOG The last grid position easting at which an anchor was either dropped or recovered This variable is for anchor handling operations and is designed for use with anchor log files A 6 1 15 AHT Grid Northing Real Number Default caption in log files Northing Default format specifier Of Attribute flags TYPE_DOUBLE TYPE2_NORTH LOG_VALUE SCAN_NOLOG The last grid position northing at which an anchor was either dropped or sk Page 239 recovered This variable is for anchor handling operations and is designed for use with anchor log files A 6 1 16 AHT Pickup DeltaM X Real Number Default caption in log files Drag East m Default format specifier Of Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE SCAN_NOLOG The true X difference in position between the the drop position and recovery position in metres This gives an indication of anchor drag amount This variable is for anchor handling operations and is designed for use with anchor log files A 6 1 17 AHT Pickup DeltaM Y Real Number Default caption in log files Drag North m Default format specifier Of Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE SCAN_NOLOG The true Y difference in position between the the drop position and recovery position in metres T
96. O translate y O translate z O rotate x O rotate y O rotate z PloughArm O translate x O translate y O wanslate z O rotate x O rotate y O rotate z t StbdRamTopRoot O translate x O translate y O translate z O rotate x O rotate y O rotate z 2 StbdRamPiston O translate x 1 translate v rRange Limits Min Max Default Value Scaling Multiplier Offset a lest Movement initial Position x Y Z Fos F5 84725 5 4184 initial Orientation Axis x Axis Axis z 0 83902 4737 P4737 Angle degrees 100 005 J Edit Initial Skeleton State FN Show Bones When the bone editor is first opened after creating the bone information for the first time all movements for each degree of freedom of every bone will be displayed Each bone has 6 degrees of freedom DOF You can try out any movement of any bone by checking the box next to one of the DOF and using the Test Movement wheel Just to make life interesting the XYZ axis used internally by Ogre and also NAVSYSTEMS Blue Spider User Manual Jun 2013 Sk Page 433 in the bone editor is NOT the same as the XYZ frame convention used for a ship mobile or stationary object If you select Hide unused movements you can see the bone hierarchy more easily This option hides the DOF check boxes that are not checked For any DOF you can enter a BSPEngin
97. OLOG The distance from the keel of the ship from the CRP A 6 1 216 Ship LaybackPoint String Default caption in log files Ship Layback Offset Name Attribute flags TYPE_STRING The name of the vessel offset which is currently the default layback offset for all mobiles A 6 1 217 Ship Motion Heading Page 292 Real Number Default caption in log files Ship Heading from MRU Default format specifier 2f Attribute flags TYPE_DOUBLE UNIT_ANGLE UNIT2_DEGREES LOG_VALUE The heading of the vessel in degrees as obtained from a motion sensor NOT THE GYRO A 6 1 218 Ship Motion Heave Real Number Default caption in log files Ship Heave Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE The heave of the vessel in metres as obtained from a motion sensor A 6 1 219 Ship Motion Pitch Real Number Default caption in log files Ship Pitch Default format specifier 2f Attribute flags TYPE_DOUBLE UNIT_ANGLE UNIT2_DEGREES LOG_VALUE The pitch of the vessel in degrees as obtained from a motion sensor A 6 1 220 Ship Motion Roll Real Number Default caption in log files Ship Roll Default format specifier 2f Attribute flags TYPE_DOUBLE UNIT_ANGLE UNIT2_DEGREES LOG_VALUE The roll of the vessel in degrees as obtained from a motion sensor A 6 1 221 Ship MRU ReceiverFlags Page 293 Integer Default caption in log
98. OWLOG UNC filename of the backup log file 1 A 6 1 137 Logging Cable Line Name Unknown Default caption in log files Cable Line Name Attribute flags TYPE_UNDEFINED SCAN_NOLOG The cable line name DEPRECATED do not use will only output empty string A 6 1 138 Logging Cable Line No String Default caption in log files Cable Line No Attribute flags TYPE_STRING LOG_VALUE Page 271 The cable line number string This is only applicable when NavSlack is being used for cable operations A 6 1 139 Logging Cable Type String Default caption in log files Cable Type Attribute flags TYPE_STRING The cable type string This is only applicable when NavSlack is being used for cable operations A 6 1 140 Logging Comment String Default caption in log files Comment Attribute flags TYPE_STRING LOG_TEXT The fix comment string This is set when a fix is taken See also Logging Description For automatic fixes it will have the value Time or Distance A 6 1 141 Logging Config1 LogType String Default caption in log files Log File 1 Type Attribute flags TYPE_STRING SCAN_SLOWLOG Configured type of the primary log file 1 A 6 1 142 Logging Config1 Name String Default caption in log files Log File 1 Name Attribute flags TYPE_STRING SCAN_NOLOG Caption name of log file 1 Page 272 A 6 1 143 Logging Description String Default caption in log files D
99. Of Ship Roll S Cell Returns frequency in Hz Zero if data is rejected var_history History object for a variable This can be obtained for a variable by using the historyOf function The variable must be present in the VarHistory section of the INI file Page 377 min_period_hz optional The minimum period at which average point crossings are rejected crossing optional crossing value at which edges are counted If omitted or null then the average value of the signal is used min_magnitude optional Rejects data that does not exceed this magnitude If data is rejected then the return value will be zero Use to avoid small vibrations resuling in a high frequency e g if calculating roll then this could occur due to engine vibration when the vessel is on glass flat water Page 378 A 9 History Objects History objects are created by defining them in the VarHistory section of the INI file See A 3 1 14 VarHistory p 195 You can create one history object per variable If you ever need more than one history object for a given variable just create another variable assigned from the original History objects record history for a given variable and allow certain statistics to be calculated You can also access the raw recorded data History objects store the data in memory so there is a limit to the amount of data that can be stored Storing too much data in a history objec
100. P calculated in Blue Spider agree with the last KP in the RPL This last check could lead to finding issues in the RPL as obviously the KP values that Blue Spider computes should agree very closely with the RPL Errors are usually down to amendments having been made to the RPL incorrectly Once the route is imported ALWAYS walk the route through the Blue Spider screen looking for any obvious errors like spikes kickbacks or obviously wrong AC Alter Course angles Page 104 3 1 5 Creating Depths from Terrain Data A new feature in Blue Spider allows a bathy line to be created from the terrain of a route line The data is extracted from the 3D Viewer if terrain DTM files are imported into the 3D Viewer The 3D viewer must be open at the same time as Blue Spider Blue Spider will prompt with a warning if the 3D Viewer has not been started PMroute Lines Points and Targets A Route Lines Poirts Targets QZ Manual Foes J Survey Pran reels Insert new route ine 812813 Delete this route ine M 817 017 Meke Mis route ative E Current route r10017 Lockedting of this ine 51 35 28000 001 27 62700E 393344 46 5716338 92 0 000 51 35 28400 N 001 27 61800E 39333423 5716346 55 0 000 HHE Close Save Database As Load Database New Database Use next waypoint as target F To use this feature right click on a Route Line and select Create depth approximatio
101. P2 is a mobile the variable has the value of the mobile pitch or zero if this is not known A 6 1 298 SP2 Motion Roll Real Number Default caption in log files SP2 Roll Default format specifier 2f Attribute flags TYPE_DOUBLE UNIT_ANGLE UNIT2_DEGREES LOG_VALUE The roll of SP2 in degrees as obtained from a motion sensor If SP2 is a vessel offset then this variable has the same value as Ship Motion Roll otherwise if SP2 is a mobile the variable has the value of the mobile roll or zero if this is not known sk Page 315 A 6 1 299 SP2 Name String Default caption in log files SP2 Name Attribute flags TYPE_STRING The name of the vehicle or vessel offset which is currently SP2 A 6 1 300 SP2 0ffset Pos Name String Default caption in log files SP2 Pos Offset Name Attribute flags TYPE_STRING The name of the vehicle offset which is the positioning offset for SP2 blank if a vessel offset is used A 6 1 301 SP2 Offset SP Name String Default caption in log files SP2 SP Offset Name Attribute flags TYPE_STRING The name of the vehicle offset which is the steer point offset for SP3 blank if a vessel offset is used A 6 1 302 SP2 Offsets Grid1 Easting Real Number Default caption in log files SP2 Offset 1 Easting Default format specifier 3f Attribute flags TYPE_DOUBLE TYPE2_EAST SCAN_NOLOG LOG_VALUE Position easting of SP2 offset 1 Offset 1 is the CRP
102. PE2_KP UNIT_DISTANCE UNIT2_KM LOG_VALUE SCAN_NOLOG The route KP value of SP3 This is the straight line distance along the route If no route is active this variable value is undefined NAN blank Alter course radii are ignored by this calculation A 6 1 379 SP3 Route SeabedSlope Real Number Default caption in log files SP3 Route survey Seabed Slope Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_ANGLE UNIT2_DEGREES SCAN_NOLOG LOG_VALUE The route KP as surveyed seabed slope value under SP3 The data here comes from the water depth information in the active route if present The value is otherwise undefined A 6 1 380 SP3 Route Section Bearing Real Number Default caption in log files SP3 Route Section Bearing Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_ANGLE SCAN_SLOWLOG UNIT2_DEGREES LOG_VALUE sk Page 337 The true bearing of the current route section adjacent to SP3 A 6 1 381 SP3 Route TerrainDist Real Number Default caption in log files SP3 Terrain Dist km Default format specifier 3f Attribute flags TYPE_DOUBLE TYPE2_KP UNIT_DISTANCE UNIT2_KM LOG_VALUE The route terrain distance value of SP3 This is similar to the KP value except the undulations in the route are taken into account The route terrain distances are calculated by taking the XYZ distances between each point the route should contain water depth
103. Page 97 2 15 SQL Logging Database Logging works in conjunction with the Blue Spider Report Generator 2 15 1 Brief Description Every changing value generated by BSPEngine is stored in the SQL database if it is running This is different to logging data at a fixed time interval For example GPS may be input into BSPEngine at 5Hz and Heading may be input at 10Hz In a one second interval SQL will have logged 15 messages for this GPS and gyro Every message is stored with a timestamp identification and value This creates a lot of data typically 150 200MB hour When the Database Report Generator is run it selects all the required data based on time or distance intervals between two fixed dates and times and produces a csv style report 2 1 uw 2 Advantages of SQL Logging Retrieve only the data that is required Templates can be used to produce reports Fast access to relevant data OOO No risk of forgetting to record important data cn uw w OKO Limitations of SQL Logging There is no SQL backup logging in place yet Data cant easily be read from multiple SQL files Very large amounts of storage required Page 98 2 15 4 What gets recorded The data recorded in a SQL database is recorded to a number of different tables storing information falling into several categories This data includes all raw input messages most calculated variable values any that are not recorded are ones t
104. Page 1 es NAVSYSTEMS IOM LIMITED Blue Spider User Manual http www bluespider im sk The manual is issued in PDF format only The manual is being regularly updated as new features are added to Blue Spider Requests for any particular sections to be added should be emailed to support bluespider im Release History TE December 2072 01 04 13 01 06 13 02 07 13 Page 3 Table of Contents NAVSYSTEMS X Blue Spider User Manual Jun 2013 Ss 3 1 7 1 ae Teek Properties NAVSYSTEMS L Blue Spider User Manual Jun 2013 Ss NAVSYSTEMS L Blue Spider User Manual Jun 2013 Ss NAVSYSTEMS X Blue Spider User Manual Jun 2013 Ss A31 11 3 res multi pos input ste LOU NAVSYSTEMS L Blue Spider User Manual Jun 2013 Ss
105. Portinput AIS 01 Filtered with Portinput AIS_01 or a different device name A 13 3 Logging of system alerts TBD Page 399 A 13 4 Decoding and logging more complex messages TBD NAVSYSTEMS L E Blue Spider User Manual Jun 2013 AS Page 400 f NAVSYSTEMS IOM LIMITED Blue Spider GUIDE TO CUSTOM HTML PANELS Appendix B Custom Panels and Watch Windows in Blue Spider Draft 1 0 Page 401 B 1 Custom panels and watch windows in Blue Spider Variable Window 9 Ordinary watch windows are useful but these are limited to just showing variables and their values Custom panels or html plugins provide a way of displaying richer content and extending the user interface The gauge shown above was used to help the cable engine operator keep the cable angle between the desired min and max limits Creating html plugins is not always straightforward and requires a knowledge of html Javascript and a good understanding of Blue Spider and BSPEngine This is something that really should be attempted by the inexperienced Installing and adapting pre built plugins however is simple enough A plugin is generally just written as a single html file this may reference others The main html file for a plugin is by convention placed in the C Program Files NavSystems Blue Spider Blue Spider Plugins NavBed folder Any jscript files used by the html file are placed in C Program Files NavSystems Blue Spider Blue
106. RID DOL value of SP2 Route GRID KP value of SP2 Route KP value of SP2 Variable Name SP2 Route SeabedSlope SP2 Route Section Bearing SP2 Route TerrainDist SP2 Route WaterDepth SP2 Smoothed CMG SP2 Smoothed Speed SP2 Smoothed SpeedKmh SP2 SP1Relative DX SP2 SP1Relative DY SP2 SP1Relative DZ SP2 Speed SP2 SpeedKmh SP2 SpeedMS SP2 Target1 Bearing SP2 Target1 Range SP2 WaterDepth SP2 WGS84 Pos Alt SP2 WGS84 Pos Lat SP2 WGS84 Pos Lon SP3 Grid Easting SP3 Grid Northing Page 230 Description Route KP as surveyed seabed slope value under SP2 True bearing of the current route section adjacent to SP2 Route terrain distance value of SP2 Route KP as surveyed water depth value under SP2 Smoothed SP2 course made good in degrees Smoothed SP2 speed in metres per second Smoothed SP2 speed in kilometres per hour Delta X offset of SP2 from the vessel SP Delta Y offset of SP2 from the vessel SP Delta Z offset of SP2 from the vessel SP SP2 speed in kilometres per hour SP2 speed in kilometres per hour SP2 speed in metres per second These variables are available for the first 8 mobile offsets True bearing in degrees from SP2 to the auxiliary target 1 Range in metres from SP2 to the auxiliary target 1 Water depth at the SP2 offset position if SP2 is a mobile Position of SP2 altitude in WGS84 Geodetic position of SP2 latitude Geodetic position of SP2
107. Returns the hyperbolic arcsine of x Parameters x Floating point value Page 356 Return Value The hyperbolic arcsine value of x A 8 1 6 atan x Compute arc tangent Returns the arctan of x Parameters x Floating point value Return Value The arctan value of x A 8 1 7 atan2 y x Compute arc tangent with two parameters Returns the principal value of the arc tangent of y x expressed in radians To compute the value the function uses the sign of both arguments to determine the quadrant Parameters y Floating point value representing an y coordinate x Floating point value representing an x coordinate If both arguments passed are zero an error occurs and the result will be infinity Sk Page 357 Return Value Principal arc tangent of y x in the interval pi pi radians Page 358 A 8 1 8 atanh x Compute hyperbolic arc tangent Returns the hyperbolic arctan of x Parameters x Floating point value Return Value The hyperbolic arctan value of x A 8 1 9 bin2hex s Convert binary string to hexadecimal string Returns the hexadecimal encoded string Parameters S String value Return Value String containing hexadecimal encoded digits A 8 1 10 ceil x Round up value Returns the smallest integral value that is not less than x Parameters x Floating point value Return Value The smallest integral value not less than x Sk Page 359 A 8 1 11 chr n C
108. SCAN_NOLOG LOG_VALUE Position latitude of vessel offset 1 converted to WGS84 Offset 1 is the CRP A 6 1 230 Ship Offsets WGS84 Pos1 Lon Real Number Default caption in log files Offset 1 Longitude WGS84 Attribute flags TYPE_DOUBLE TYPE2_LON UNIT_ANGLE SCAN_NOLOG LOG_VALUE Position longitude of vessel offset 1 converted to WGS84 Offset 1 is the CRP A 6 1 231 Ship PrimaryGyro Message String Default caption in log files HDTPrimary msg Attribute flags TYPE_STRING SCAN_NOLOG Message string from the primary gyro input A 6 1 232 Ship RawSpeedKmh Real Number Default caption in log files Raw Ship Speed km h Default format specifier 4f Attribute flags TYPE_DOUBLE UNIT_SPEED UNIT2_KM_H LOG_VALUE sk Page 296 The raw ship speed in kilometres per hour A 6 1 233 Ship SP1 Grid Easting Real Number Default caption in log files SP1 Easting Default format specifier 2f Attribute flags TYPE_DOUBLE TYPE2_EAST SCAN_NOLOG LOG_VALUE The grid position of SP1 easting The position given here is according to your selected map projection and datum A 6 1 234 Ship SP1 Grid Northing Real Number Default caption in log files SP1 Northing Default format specifier 2f Attribute flags TYPE_DOUBLE TYPE2_NORTH SCAN_NOLOG LOG_VALUE The grid position of SP1 northing The position given here is according to your selected map projection and d
109. SCAN_SLOWLOG LOG_VALUE Elevation from seabed to vessel offset Offset 1 is the CRP The elevation given here is the water depth in metres from the seabed to the given vessel offset An adjustment is made from the position of the echo sounder to the vessel offset by taking account of pitch and roll of the ship The seabed is assumed to be flat as the SP offset could be some distance away from the echo sounder which will mean that the depth given here is not truly accurate A 6 1 226 Ship Offsets Pos1 Lat Real Number Default caption in log files Offset 1 Latitude Attribute flags TYPE_DOUBLE TYPE2_LAT UNIT_ANGLE SCAN_SLOWLOG LOG_VALUE Position latitude of vessel offset 1 Offset 1 is the CRP A 6 1 227 Ship Offsets Pos1 Lon Real Number Default caption in log files Offset 1 Longitude Attribute flags TYPE_DOUBLE TYPE2_LON UNIT_ANGLE SCAN_SLOWLOG LOG_VALUE Position longitude of vessel offset 1 Offset 1 is the CRP A 6 1 228 Ship Offsets WGS84 Pos1 Alt Real Number Default caption in log files Offset 1 Altitude WGS84 Page 295 Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE SCAN_SLOWLOG LOG_VALUE Position altitude of vessel offset 1 converted to WGS84 Offset 1 is the CRP A 6 1 229 Ship Offsets WGS84 Pos1 Lat Real Number Default caption in log files Offset 1 Latitude WGS84 Attribute flags TYPE_DOUBLE TYPE2_LAT UNIT_ANGLE
110. SGPZDA MsgType 1 0 0 Time 2 0 0 gt gt GPS1 Time Day 5 0 0 Month 4 0 0 Year 5 0 0 Page 179 These sections define the GPS messages that can be decoded The values are decoded to built in variables and are then accessible for logging You can have up to 3 GPS receivers but they must all use the same formats Note that the number of sections in the INI file here refers to individual GPS messages and not the number of receivers Data to be decoded by the built in GPS decoder must arrive on ports GPS1 to GPS3 and will be decoded to the built in GPS variables The Nav1 refers to the GPS format number Anticipated formats from different GPS receivers include GPGGA SGNGGA SINGGA oooO Nothing else is likely to need changing in this section however note may be taken of the Altitude and the Geoidal Separation fields as these can vary in usage between GPS receivers GPS receivers output either Altitude and Geoidal separation or MSL Height Blue Spider usually takes care of this itself Page 180 Nava MsgName MsgType Time Day Month Year Navs5 MsgName MsgType Heading SpeedKmh SGPZDA is the Time and Date message from the GPS receiver SGPVTG is the GPS speed message If present Blue Spider can use this speed as the vessel speed rather than calculate a speed from changing position Page 181 A 3 1 7 Gyro1 Configures the built in Gyro decoder Example Gyro2
111. Spider Plugins NavBed Jscript folder Page 402 When installing a plugin the first thing to do is copy the needed files to these folders These instructions will be provided with each plugin 1 Once the files have been placed in the correct folders there are a few simple steps that need to be carried out in Blue Spider Create a watch window an empty watch window don t add any variables Click right and select Assign Custom Panel You are presented with a list of already registered custom panels To install a new one select the Install button and browse to the NavBed folder where you placed the html file for the plugin you wish to use This should now appear in the list and you can select it Pressing the Select button will add the panel to you watch window You will probably need to resize the watch window to a suitable size Page 403 NAVSYSTEMS IOM LIMITED Blue Spider GUIDE TO GEODETICS Appendix C Geodetics in Blue Spider Draft 1 0 Page 404 C 1 Geodetics in Blue Spider The reader should be familiar with basic geodesy and should have an understanding of datums and vertical reference systems C 1 1 Extracts from various internet sources C 1 1 1 WGS84 World Geodetic System The National Geospatial Intelligence Agency develops maintains and enhances the World Geodetic System 1984 the reference frame upon which all geospatial intelligence is based The Wor
112. The position given here is in your selected working datum which is not necessarily WGS84 A 6 1 270 SP1 Pos Lon Real Number Default caption in log files Overboard Point Longitude Attribute flags TYPE_DOUBLE TYPE2_LON UNIT_ANGLE SCAN_ALIAS LOG_VALUE The geodetic position of SP1 longitude The position given here is in your selected working datum which is not necessarily WGS84 Sk Page 307 A 6 1 271 SP1 Route DOL Real Number Default caption in log files Overboard Point DCC Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE SCAN_ALIAS LOG_VALUE The route DOL value of SP1 This is the perpendicular distance from route line On the outer corner of an alter course it is the distance from the corner in which case the KP value will be the KP of the corner Alter course radii are ignored by this calculation A 6 1 272 SP1 Route Grid DOL Real Number Default caption in log files Overboard Point Grid DOL Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE SCAN_ALIAS LOG_VALUE The route GRID DOL value of SP1 This is the perpendicular distance from route line On the outer corner of an alter course it is the distance from the corner in which case the KP value will be the KP of the corner Alter course radii are ignored by this calculation A 6 1 273 SP1 Route Grid KP Real Number Default caption in log files Nav GRID kp Default forma
113. UBLE UNIT_DISTANCE SCAN_SLOWLOG LOG_VALUE The distance deviation is based on slack and cable speed For cable operations A 6 1 59 Cable Engine1 CableOut Real Number Default caption in log files Cable Engine 1 Length Default format specifier 2f Attribute flags TYPE_DOUBLE LOG_VALUE SCAN_SLOWLOG Cable out length from cable engine 1 A 6 1 60 Cable Engine1 Tension Page 251 Real Number Default caption in log files Cable Engine 1 Tension Default format specifier 2f Attribute flags TYPE_DOUBLE SCAN_SLOWLOG LOG_VALUE Cable tension from cable engine 1 A 6 1 61 Cable Engine2 CableOut Real Number Default caption in log files Cable Engine 2 Length Default format specifier 2f Attribute flags TYPE_DOUBLE LOG_VALUE SCAN_SLOWLOG Cable out length from cable engine 2 A 6 1 62 Cable Engine2 Tension Real Number Default caption in log files Cable Engine 2 Tension Default format specifier 2f Attribute flags TYPE_DOUBLE SCAN_SLOWLOG LOG_VALUE Cable tension from cable engine 2 A 6 1 63 Cable Engine3 CableOut Real Number Default caption in log files Cable Engine 3 Length Default format specifier 2f Attribute flags TYPE_DOUBLE LOG_VALUE SCAN_SLOWLOG Cable out length from cable engine 3 A 6 1 64 Cable Engine3 Tension Page 252 Real Number Default caption in log files Cable Engine 3 Tension Default format specifier 2f
114. Union Beaver Barge Select Vessel Once the AHT is selected and the Next button clicked you will then get the option to place the anchor target ANCHOR TARGETS MAY BE PRE PLANNED PRIOR TO THE PROJECT STARTING AND IN THIS CASE A TARGET POINT WILL ALREADY BE VISIBLE ON THE SCREEN THIS MAY ALSO BE DISPLAYED AS A BACKGROUND DRAWING AS SHOWN BELOW Page 132 Background of Proposed Anchor Patterns Page 133 IF USING A BACKGROUND DRAWING SURVEY PERSONNEL MUST MAKE SURE THIS DRAWING IS LOADED TO THE BARGE MASTERS DISPLAY TUG DISPLAY AND SURVEY DISPLAY IT WILL NOT AUTOMATICALLY SHOW ON ALL SCREENS ONCE ENABLED ON THE MAIN SERVERS ALSO REMEMBER THAT LARGE GRAPHIC FILES WILL PLACE AN EXTRA OVERHEAD ON THE SYSTEM ONLY DISPLAY NECESSARY INFORMATION Anchor positioning can either be created by text entry of position or through placement of an anchor target using the cross hair cursor if the Click to Define Point on Screen button is clicked Ht DIR Oy x GH B Request Anchor Drop Union Beaver Barge to drop anchor 1 At position Click to define point on screen Laue EERE Longtude MEE Esino E Notino LT Absolute Relative Target appearance Symbol Range Rings None Range rings on remote system only Cancel i 7 Vessel Anchor Handling Status Request Anchor Drop Sk Page 134 The figures shown above in green will update as the cursor is moved across the screen Range 5
115. User Manual Jun 2013 SS Page 121 4 2 Configuration for Barge Management Blue Spider must be configured for Barge Management 4 2 1 Equipment Required Wireless Colubris links between all the vessels or radio modem links Satel Oa single Blue Spider workstation on each of the tugs A standard Blue Spider spread on the barge 4 2 1 1 Colubris Colubris is a TCP IP based system that creates wireless network links from the barge to each tug A wireless link is also established between each tug so that all the Page 122 vessels can see each other Colubris uses WiFi technology The closer the vessels are the faster the network data link will be The Colubris one unit per vessel has an IP address and becomes part of the Blue Spider network Remote Desktop can be used over the Colubris links 4 2 1 2 Radio Modem Radio modems can be used to backup Colubris Blue Spider does not have full functionality over a radio link but it can fully support the Barge Management System Page 123 4 2 2 Software Configuration 4 2 2 1 BSPEngine Configuration The barge and each tug must be running their own BSPEngine In a typical configuration the barge will run Box A and Box B the usual link_A cfg Notepad Master Slave arrangement File Edit Format View Help Each tug will run Box A only localhost This keeps the equipment on the tug to a minimum Note localhost can be used instead of the IP
116. V2 as SP3 SP2 and SP3 are calculated from the vessel CRP As with SP1 there is considerable room for error if measurements and calibrations are not carried out accurately especially where the HPR is concerned The further the mobile is away from the CRP the more error there will be in positioning When working with mobiles and HPR the following should be taken into account to achieve minimal errors The GPS antenna should be mounted as close as is practically possible to the CRP position The gyro calibration must be accurate O The pitch and roll sensor must have corrections applied and must be in the right sense Offsets must be measured as accurately as possible The HPR must be calibrated VOS must be taken into account O Page 84 2 9 Mobile Configuration In the Mobiles configuration there is a distinct difference between SP and Positioning in the Mobiles configuration table SP relates to the Survey Point of the ROV or the plough and it is the point on the vehicle that we are interested in Positioning relates to the selected HPR beacon on the mobile It is very important that the offsets for the beacon agree with the beacon s actual position on the mobile It is easy to select say B22 on the assumption that B22 is on the correct offset point If these are not set up incorrectly then there will be errors in the vehicle position As a precaution it is recommended that the Mobile Offset name i
117. You cannot define the same variable more than once Page 194 Variables are accessible from Javascript code as values but they also have other properties and these can be accessed using the special functions described in section A 8 2 Special functions Variables can have additional attributes that may be defined in the INI file such as the heading caption for log file columns format specifiers and a number of other attributes Attributes are defined in curly brackets after the definition User defined variables are recalculated when any of the variables on the RHS of the expression change You can override this default behavior using the attributes For details on configuring variable attributes see section A 7 Variable attributes Page 195 A 3 1 14 VarHistory The VarHistory section makes it possible to record the historical values of variables to an internal buffer This in turn makes the historical data available to scripting and makes it possible to calculate statistics such as the average value minimum and maximum etc Example VarHistory GPSI POS seconds 60 race hz i Ship Heading Secomcds 120 race laz 11 In the above example GPS1 Pos actually refers to all variables starting with GPS1 Pos GPS1 Pos will normally at least have GPS1 Pos Lat and GPS1 Pos Lon members When adding a variable like GPS1 Pos which is a composite variable it is effectively the same as saying GPSI Pos Lart seconds
118. _VALUE The altitude of the ship waterline with respect to the WGS84 geoid The value is sk Page 302 calculated by taking Ship CRP AltitudeWGS84 and subtracting the variable Ship Draft if it exists then adding Ship Heave Ship Draft should normally be defined as an input variable in the INI file Ship Heave is already defined and is normally configured to be input from a motion sensor If there is no heave sensor then Ship Heave is considered to be 0 heave is positive if the CRP is below the waterline and negative if above A 6 1 253 SP1 Averaged CMG Real Number Default caption in log files SP1 CMG Default format specifier 2f Attribute flags TYPE_DOUBLE UNIT_ANGLE UNIT2_DEGREES SCAN_SLOWLOG LOG_VALUE The time averaged SP1 course made good in degrees A 6 1 254 SP1 Averaged Speed Real Number Default caption in log files SP1 SpeedMS Default format specifier 4f Attribute flags TYPE_DOUBLE UNIT_SPEED SCAN_UNIT_ALIAS SCAN_SLOWLOG LOG_VALUE The time averaged SP1 speed in metres per second A 6 1 255 SP1 Averaged SpeedKmh Real Number Default caption in log files SP1 Speed Default format specifier 4f Attribute flags TYPE_DOUBLE UNIT_SPEED UNIT2_KM_H SCAN_SLOWLOG LOG_VALUE The time averaged SP1 speed in kilometres per hour A 6 1 256 SP1 Date Page 303 String Default caption in log files Overboard Point Date Attribute flags TYPE_STR
119. a can be logged to customised CSV files The configuration for the logging file formats is in the BSPEngine ini file The CSV formats look like this Logfile1 Each log file format section must have a unique LogFile number Type Event Normal Beacon Event Only logged when a manual fix is taken Normal Logs all system created events Beacon Logs all beacons being received See the reference below for information on the other types of log files that are available heading System Date Page 96 The heading defined here is what will appear in the logging files Most of the BSPEngine variables use their existing defined names but these can be overridden For further detailed information refer to A 3 1 15 LogFile1 p 197 LogFile2 Title ProjectLog Type Normal Fieldl Logging FixNo Field2 Logging EventNo Field3 System Date heading System Date Field4 System Time heading System Time Fields SP1 0ffset Name heading SP1 Offset Field6 SP1 Date heading GPS Date Fiel SP1 Time heading GPS Time Field8 Ship Draft LogFile3 Title Beacon Type HPR Field Logging FixNo Field2 System Date heading System Date Field3 System Time heading System Time Field4 SP1 Date heading GPS Date Fields SP1 Time heading GPS Time Field6 Beacon ID Field7 Beacon X Fields Beacon Field9 Beacon Zz Field10 Beacon Pos l Field11l Beacon Pos l
120. a simple CSV file containing just the X and Y offset values This is useful if you want to use 3 party tools to edit the outline The outline is a closed polygon and the units are in metres with 1cm resolution Page 38 2 1 4 Anchors Tab This page is used to determine anchor winch locations on this vessel RRE Fle Edt View Tools Help vi Hla oh Properties ax o E Name From Offset Symbol Winch Capacity kN Port Aft Anchor Port Aft Anchor 2 Port Mid Anchor Port Mid Anchor S Port Fwd Anchor Port Fwd Anchor Bow Anchor Bow Anchor g Stbd Fwd Anchor Stbd Fwd Anchor B Stbd Mid anchor Stbd Mid Anchor Stbd Aft Anchor Stbd Aft Anchor 5 5 Ed a g 2 5 a EE bi v Ok Apply Cancel 64 00m 45 13m The anchors are created here but they are actually positioned by Offsets from the Points of Interest table Therefore there must be new point of interest created for each anchor point There are 3 Right Click options Append Insert Delete Page 39 It is recommended to use the same name for the offset as for the anchor This helps avoid confusion Anchors can be represented by coloured symbols e g red and green The anchor symbol refers to the symbol that will represent the anchor once it is deployed The anchor locations should be given a meaningful name this might be a numbered sequence or names like Port Fwd Stbd Fwd It
121. address The default IP Address of localhost or this machine is 127 0 0 1 Page 124 4 2 2 2 Remote Vessel Configuration A remote vessel configuration file must be configured in Blue Spider for Barge Management to work The file contains the Vessel name and the name of the Computer on that vessel for all the tugs and the barge The file lives in the Blue Spider System Config folder on every vessel and is called remote_vessels conf Thomas TugPCO1 Gordon TugPc02 James TugPC03 Wrat Comecolileie ORS If this file does not exist it can be created in Notepad Note The computer name does not have any spaces Page 125 4 2 2 3 Testing the Connection Once the connection has been made the other vessels will be seen on the Blue Spider screen Using the Remote tab the remote vessel details can be seen Cable Innovator Remote vessels also appear in the Remote Positioning page in the Remote Vessels tab Here the Name Steerpoints and the IP address s of the remote vessels can be observed but not altered Page 126 4 2 3 Barge Management Features 4 2 3 1 Geodetics The remote vessels will always share the same coordinate system settings Changes made on one system will be automatically propagated to the other Use the permissions machine ad ini file to limit geodetic changes to OPS1 and OPS2 On tugs it is generally desirable to prevent coordinate system changes altogether For more informatio
122. after var1 var2 var3 where var1 var2 var3 etc are replaced with the names of variables you want to trigger the recalculation You can have one or more variables listed here The variables used in the expression itself are no longer considered when determining sk Page 353 when the output variable should be recalculated and instead your supplied list effectively says calculate the output variable whenever any of the listed variables changes Page 354 A 8 Built in functions This section describes the built in functions that are available You can define additional functions by writing your own scripts A 8 1 Standard functions The following functions may be used in expressions e g when defining custom variables in the INI file A 8 1 1 abs x Compute absolute value Returns the absolute value of x Parameters x Floating point value Return Value The absolute value of x A 8 1 2 acos x Compute arc cosine Returns the arccosine of x Parameters x Floating point value Page 355 Return Value The arccosine value of x A 8 1 3 acosh x Compute hyperbolic arc cosine Returns the hyperbolic arccosine of x Parameters x Floating point value Return Value The hyperbolic arccosine value of x A 8 1 4 asin x Compute arc sine Returns the arcsine of x Parameters x Floating point value Return Value The arcsine value of x A 8 1 5 asinh x Compute hyperbolic arc sine
123. ally the position of the required offset on the mobile is determined by taking into account its relative position and the gyro heading and attitude of the mobile itself C 2 7 Subsea depth measurement and adjustment Sk Page 420 Subsea depth readings taken by a device that measures water pressure can be corrected to mean Sea level or other vertical reference by taking account of the corrected GPS RTK altitude and ship heave to measure the actual waterline altitude In addition the pressure readings can be compensated to take account of the surface pressure atmosphere bearing down on the sea C 2 8 Depth from pressure sensor or USBL The depth of a mobile offset can be determined in two ways either by using the depth obtained by the acoustic positioning HPR system or by using the pressure based depth sensor Blue Spider does not attempt to combine these readings but records both and compensates each independently WARNING Using USBL HPR for depth determination is not likely to be particularly accurate C 2 9 Ship heave sensor A heave sensor is necessary in order to determine the true waterline and hence correct for Subsea depth measurements This in turn allows for greater sub sea positional accuracy The heave sensor allows us to add a centimetre accuracy offset to our last known GPS altitude sk Page 421 value in order to determine the waterline The heave sensor is usually part of the motion sensor pitch
124. also need to work out the rotation origin 2 1 6 3 Origin of rotation The origin of rotation specifies the origin that rotation should be applied to By default this is the 0 0 0 location in 3D model coordinate space By pressing the little cross hair button you can shift this to the central location This may help for models where the actual drawing location is quite distant from the actual vessel CRP Some models however may need rotation applied to an entirely different location Models like this may take considerable practice to align correctly Page 46 2 1 6 4 3D Appearance This section controls the appearance in the 3D viewer e 2D Outline This specifies whether or not to draw the 2D outline e Visible Ref Points Specifies whether or not the reference points should be displayed Only ref points marked as visible will actually be displayed e Locator Circles If this option is selected then concentric circles at increasing radii are drawn around the vessel making it easier to locate from a distance e 3D Model If this option is not selected then the 3D model will not be displayed This option will be greyed out if there isn t a 3D model in the definition Page 47 2 1 7 3D Files Tab The 3D files tab lets you add a 3D model to the definition i ship Definition SDF Editor File Edit View Tools Help EE olan i i i i i 2 1 7 1 Mesh files A model is made up of one or more mesh
125. anchor was either dropped or recovered This variable is for anchor handling operations and is designed for use with anchor log files A 6 1 25 AHT Pos Lon Real Number Default caption in log files Longitude Attribute flags TYPE_DOUBLE TYPE2_LON UNIT_ANGLE LOG_VALUE The last position longitude at which an anchor was either dropped or recovered This variable is for anchor handling operations and is designed for use with anchor log files A 6 1 26 AHT Requestor Sk Page 242 String Default caption in log files Requestor Attribute flags TYPE_STRING The name of the barge or tug requesting an anchor action This variable is for anchor handling operations and is designed for use with anchor log files A 6 1 27 AHT Target Grid Easting Real Number Default caption in log files Intended Easting Default format specifier Of Attribute flags TYPE_DOUBLE TYPE2_EAST LOG_VALUE SCAN_NOLOG The target drop grid position easting for the anchor deployment This variable is for anchor handling operations and is designed for use with anchor log files A 6 1 28 AHT Target Grid Northing Real Number Default caption in log files Intended Northing Default format specifier Of Attribute flags TYPE_DOUBLE TYPE2_NORTH LOG_VALUE SCAN_NOLOG The target drop grid position northing for the anchor deployment This variable is for anchor handling operations and is designed for use with an
126. and is designed for use with anchor log files A 6 1 10 AHT Drop Grid Easting Real Number Default caption in log files Drop Easting Default format specifier 0f Attribute flags TYPE_DOUBLE TYPE2_EAST LOG_VALUE SCAN_NOLOG The actual grid position easting at which the anchor was dropped This variable is for anchor handling operations and is designed for use with anchor log files A 6 1 11 AHT Drop Grid Northing Real Number Default caption in log files Drop Northing Default format specifier 0f Attribute flags TYPE_DOUBLE TYPE2_NORTH LOG_VALUE SCAN_NOLOG The actual grid position northing at which the anchor was dropped This variable is for anchor handling operations and is designed for use with anchor log files sk Page 238 A 6 1 12 AHT Drop Pos Lat Real Number Default caption in log files Drop Latitude Attribute flags TYPE_DOUBLE TYPE2_LAT UNIT_ANGLE LOG_VALUE The actual position latitude at which the anchor was dropped This variable is for anchor handling operations and is designed for use with anchor log files A 6 1 13 AHT Drop Pos Lon Real Number Default caption in log files Drop Longitude Attribute flags TYPE_DOUBLE TYPE2_LON UNIT_ANGLE LOG_VALUE The actual position longitude at which the anchor was dropped This variable is for anchor handling operations and is designed for use with anchor log files A 6 1 14 AHT Grid Easting Real
127. aption in log files Remote Vessel 1 System Time Default format specifier dd mm yyyy hh nn ss ss Attribute flags TYPE_STRING TYPE2_TIME SCAN_NOLOG System time and date string from remote vessel 1 A 6 1 173 Remotes Vessel1 Time Delta Real Number Default caption in log files Remote Vessel 1 Time Delta Default format specifier 6f Attribute flags TYPE_DOUBLE UNIT_TIME SCAN_NOLOG Page 280 The measured time difference in seconds between local and remote vessels system clocks A 6 1 174 Remotes Vessel1 Time Estimated Ti mestamp String Default caption in log files Remote Vessel 1 Estimated System Timestamp Default format specifier dd mm yyyy hh nn ss ss Attribute flags TYPE_STRING TYPE2_TIME SCAN_NOLOG The system time and date string from remote vessel 1 taking account of push latency A 6 1 175 Route Direction Integer Default caption in log files Route Direction Default format specifier d Attribute flags TYPE_LONG SCAN_SLOWLOG LOG_VALUE The direction of the currently active route 1 or 1 A 6 1 176 Route Name String Default caption in log files Route Name Attribute flags TYPE_STRING The name of the active route line A 6 1 177 Route Target Name String Default caption in log files Target Name Page 281 Attribute flags TYPE_STRING SCAN_ALIAS Name of the current target A 6 1 178 Route Target1 Pos Lat Real Number Defaul
128. ate System Zone 31N 0 E to 6 E Horizontal Datum letrses Vertical Reference Boogie __ cs Gon Tc System Zone 31N 0E to6E z Datum ETRS89 z Cancel X Linex Unt METERS Projection Transverse Mercator Gauss Kruger z Origin Latitude N 0 00 00 0000 Origin Longtude E 3 00 00 0000 False Northing m 0 000 False Easting m 500000 000 Scale Factor 0 553600 a ahon 13901 Remarks Coincides with Name ETRSS3 1564 at the one metre level Method Bursa Wolle 7 parameter 7 E Elipsod wases z Shits ToWGS 84 meters Rotation To WGS84 arc seconds x a 000000 x 276400000000 cance v a Y 270000000 z 000000 z 2754000000000 mee Save Scale Correction to WGS84 ppm 0 000000000000 Remove Pime Meridian Shit From Greenwich degrees 0 000000000000 NAVSYSTEMS Blue Spider User Manual Jun 2013 Page 88 Page 89 2 12 The BSPEngine ini File The BSPEngine ini file is used to configure BSPEngine The complexity of the INI file is a trade off for the flexibility it provides Blue Spider The most common sections of the BSPEngine ini file that might need to be configured are System setting Cable Engine type GPS message format Heading message format Echo sounder message format Pitch and roll offsets Custom inputs for ROV Plough etc Custom outputs for ROV Plough Video overlays etc Custom Variables that can have maths applie
129. atum A 6 1 235 Ship SP1 Pos Alt Real Number Default caption in log files SP1 Altitude Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE The altitude position of SP1 The altitude given here is in your selected working datum vertical reference which is not necessarily WGS84 A 6 1 236 Ship SP1 Pos Elev Real Number Default caption in log files SP1 Elevation Page 297 Default format specifier 2f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE The elevation position of SP1 from the seabed The elevation given here is the water depth in metres from the seabed to the SP1 vessel offset An adjustment is made from the position of the echo sounder to the vessel offset of the current SP by taking account of pitch and roll of the ship The seabed is assumed to be flat as the SP offset could be some distance away from the echo sounder which will mean that the depth given here is not truly accurate A 6 1 237 Ship SP1 Pos Lat Real Number Default caption in log files SP1 Latitude Attribute flags TYPE_DOUBLE TYPE2_LAT UNIT_ANGLE LOG_VALUE The geodetic position of SP1 latitude The position given here is in your selected working datum which is not necessarily WGS84 A 6 1 238 Ship SP1 Pos Lon Real Number Default caption in log files SP1 Longitude Attribute flags TYPE_DOUBLE TYPE2_LON UNIT_ANGLE LOG_VALUE The geodetic position of SP1
130. ault caption in log files Overboard Point Northing Default format specifier 2f Attribute flags TYPE_DOUBLE TYPE2_NORTH SCAN_ALIAS LOG_VALUE The grid position of SP1 northing The position given here is according to your selected map projection and datum A 6 1 266 SP1 KP Real Number Default caption in log files Overboard Point kp Default format specifier 3f Attribute flags TYPE_DOUBLE TYPE2_KP UNIT_DISTANCE UNIT2_KM SCAN_ALIAS LOG_VALUE The route KP value of SP1 This is the straight line distance along the route If no route is active this variable value is undefined NAN blank Note Route KP calculation uses Rhumb line distances sk Page 306 A 6 1 267 SP1 0ffset Name String Default caption in log files SP1 Offset Name Attribute flags TYPE_STRING The name of the vessel offset which is currently SP1 A 6 1 268 SP1 Pos Alt Real Number Default caption in log files SP1 Altitude Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE SCAN_ALIAS The altitude position of SP1 Alias for Ship SP1 Pos Alt The altitude given here is in your selected working datum vertical reference which is not necessarily WGS84 A 6 1 269 SP1 Pos Lat Real Number Default caption in log files Overboard Point Latitude Attribute flags TYPE_DOUBLE TYPE2_LAT UNIT_ANGLE SCAN_ALIAS LOG_VALUE The geodetic position of SP1 latitude
131. ault caption in log files Primary GPS Quality Default format specifier 1f Attribute flags TYPE_STRING SCAN_ALIAS Page 277 The quality indicator reported by the primary GPS receiver This variable is an alias of Ship GPS Quality A 6 1 162 PrimaryGPS Sats Integer Default caption in log files Primary GPS Sats Default format specifier d Attribute flags TYPE_LONG SCAN_ALIAS LOG_VALUE The number of satellites ground stations in view to the GPS receiver This variable is an alias of Ship GPS Sats A 6 1 163 Remotes Vessel1 ID String Default caption in log files Remote Vessel 1 ID Attribute flags TYPE_STRING SCAN_NOLOG ID of remote vessel 1 A 6 1 164 Remotes Vessel1 Name String Default caption in log files Remote Vessel 1 Name Attribute flags TYPE_STRING SCAN_SLOWLOG Name of remote vessel 1 A 6 1 165 Remotes Vessel1 Push Avg Latency Real Number Default caption in log files Remote Vessel 1 Receiver Avgd Push Latency Default format specifier 6f Attribute flags TYPE_DOUBLE UNIT_TIME SCAN_NOLOG Page 278 The averaged amount of time in seconds that it is taking BSPEngine to push status information to remote vessel 1 A 6 1 166 Remotes Vessel1 Push Latency Real Number Default caption in log files Remote Vessel 1 Push Latency Default format specifier 6f Attribute flags TYPE_DOUBLE UNIT_TIME SCAN_NOLOG The amount of time in seconds that
132. ault caption in log files SP3 DCC Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE SCAN_NOLOG LOG_VALUE The route DOL value of SP3 This is the perpendicular distance from route line On the outer corner of an alter course it is the distance from the corner in which case the KP value will be the KP of the corner Alter course radii are ignored by this calculation A 6 1 376 SP3 Route Grid DOL Real Number Default caption in log files SP3 GRID DOL Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE SCAN_NOLOG LOG_VALUE The route GRID DOL value of SP3 This is the perpendicular distance from route line On the outer corner of an alter course it is the distance from the corner in which case the KP value will be the KP of the corner Alter course radii are ignored by this calculation A 6 1 377 SP3 Route Grid KP Real Number Default caption in log files SP3 GRID kp Default format specifier 3f Attribute flags TYPE_DOUBLE TYPE2_KP UNIT_DISTANCE UNIT2_KM sk Page 336 LOG VALUE SCAN_NOLOG The route GRID KP value of SP3 This is the straight line distance along the route If no route is active this variable value is undefined NAN blank Alter course radii are ignored by this calculation A 6 1 378 SP3 Route KP Real Number Default caption in log files SP3 kp Default format specifier 3f Attribute flags TYPE_DOUBLE TY
133. ble Primary Speed Real Number Default caption in log files Raw Primary Cable Speed Default format specifier 2f Attribute flags TYPE_DOUBLE UNIT_SPEED UNIT2_KM_H LOG_VALUE Raw cable speed in km h for the primary cable channel cable operations A 6 1 85 Cable Primary Tension Real Number Default caption in log files Raw Primary Cable Tension Default format specifier 1f Attribute flags TYPE_DOUBLE LOG_VALUE Raw cable tension in kN for the primary cable channel cable operations A 6 1 86 Cable RouteDistance Real Number Default caption in log files Ship Route Distance Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE UNIT2_KM LOG_VALUE Distance along cable route cable operations A 6 1 87 Cable TargetSlack Real Number Default caption in log files Target Slack Default format specifier 2f Attribute flags TYPE_DOUBLE UNIT_RATIO UNIT2_PERCENT SCAN_SLOWLOG LOG_VALUE sk Page 258 The target slack percentage cable operations A 6 1 88 Cable TargetSpeedKmh Real Number Default caption in log files Desired Cable Speed Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_SPEED SCAN_SLOWLOG UNIT2_KM_H LOG_VALUE The desired cable speed based on required slack see Cable TargetSlack For cable operations A 6 1 89 Cable TargetTension Real Number Default caption in log files Target T
134. ble defined in the INI file or built in variables Variables can be passed as parameters to script functions defined in an external js file You need a basic understanding of Javascript in order to write your own script functions It is possible to write script functions that will have a detrimental affect on the performance of BSPEngine or worse still cause it to crash or lock up Care must therefore be taken when adding and using your own script functions You should of course verify the correct operation of scripts before using on vessel operations Page 193 A 3 1 13 Variables The variables section allows you to create variables from other variables or extract internal values from variables You create variables by specifying a name for the variable as the key and any valid Javascript expression for the value Example Ship WindDirection deg offset Ship Heading InputChannel5 Messagel Fieldl format 2f heading Wind Direction Ship WindSpeed InputChannel5 Messagel Field3 heading Wind Speed Ship AvgGPS Pos latlon historyOf GPS1 Pos Lat avg historyOrt GPS1 Pos Lon i avg NOTE Any variable you create in this section must be defined on a single line in the INI file In the example above some of the lines have been wrapped There are a number of built in variables and these are documented in section A 6 Built in Variables You can assign to limited number of certain built in variables here
135. chor log files A 6 1 29 AHT Target Pos Lat Real Number Default caption in log files Intended Latitude Attribute flags TYPE_DOUBLE TYPE2_LAT UNIT_ANGLE LOG_VALUE The target drop position latitude for the anchor deployment This variable is for anchor handling operations and is designed for use with anchor log files A 6 1 30 AHT Target Pos Lon sk Page 243 Real Number Default caption in log files Intended Longitude Attribute flags TYPE_DOUBLE TYPE2_LON UNIT_ANGLE LOG_VALUE The target drop position longitude for the anchor deployment This variable is for anchor handling operations and is designed for use with anchor log files A 6 1 31 AHT Tug Name String Default caption in log files Tug Name Attribute flags TYPE_STRING The name of the tug being referred to in the anchor request This variable is for anchor handling operations and is designed for use with anchor log files A 6 1 32 Alert Description String Default caption in log files Alert Description Attribute flags TYPE_STRING SCAN_NOLOG The last recorded system alert string A 6 1 33 AutoPilot Direction String Default caption in log files Auto Pilot Direction Attribute flags TYPE_STRING SCAN_SLOWLOG LOG_VALUE The direction L or R that an autopilot should steer in order to stay on the active route line A 6 1 34 AutoPilot ReversedDirection String Page 244 Default caption in log
136. cifier 2f Attribute flags TYPE_DOUBLE UNIT_ANGLE UNIT2_DEGREES SCAN_SLOWLOG LOG_VALUE The smoothed SP2 course made good in degrees A 6 1 384 SP3 Smoothed Speed Real Number Default caption in log files SP3 SpeedMS Default format specifier 4f Attribute flags TYPE_DOUBLE UNIT_SPEED SCAN_UNIT_ALIAS SCAN_SLOWLOG LOG_VALUE The smoothed SP3 speed in metres per second A 6 1 385 SP3 Smoothed SpeedKmh Real Number Default caption in log files SP3 Speed Default format specifier 4f Attribute flags TYPE_DOUBLE UNIT_SPEED UNIT2_KM_H SCAN_SLOWLOG LOG_VALUE The smoothed SP3 speed in kilometres per hour A 6 1 386 SP3 SP1Relative DX Real Number Default caption in log files SP1 to SP3 dx Default format specifier 2f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE SCAN_NOLOG Sk Page 339 The delta X offset of SP3 from the vessel SP A 6 1 387 SP3 SP1Relative DY Real Number Default caption in log files SP1 to SP3 dx Default format specifier 2f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE SCAN_NOLOG The delta Y offset of SP3 from the vessel SP A 6 1 388 SP3 SP1Relative DZ Real Number Default caption in log files SP1 to SP3 dx Default format specifier 2f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE SCAN_NOLOG The delta Z offset of SP2 from the vessel SP A 6 1 389 SP3 Speed Real Numb
137. ctual character position in the message By default this should be 0 in order to use the position determined by the delimiters c The actual length of the field Again if this is left at O the entire field is taken up to the next delimiter If the delimiter is set to nothing then absolute positions must be used This is the way to decode messages where all fields are fixed size and no delimiters are used For fixed layout messages without delimiters the delimiter should be specified as an empty string e g Delimiter This is because the default delimiter is a comma and unless you specify otherwise you will run into problems A fixed layout message is one where each field has a fixed width and the overall length of the message never changes If sk Page 170 you want to decode fields from such messages the values for b and c must be specified e ais not used but its good practice to give it the field number b must give the one based character position where the field e c specifies the length of the field An example can be found under 2 13 1 1 String Formats p 91 A 3 1 4 CustomInputChannel1 Custom input channel sections assign messages to a given custom input channel Custom input channels are ports with the device names IP_01 to IP_32 Example CustomInputChannel5 Messagel CustomInputFormat5 You can assign more than one message to a channel Just add a Message2 and so on Page 171 Fo
138. d O0 CG 0 6 6 0 00 Logging section where CSV logs are formatted The file is broken into sections and is documented along with examples in Appendix A p 149 The INI file can be edited in any text edior such as notepad When changes are made to the INI file BSPEngine will notice the change and attempt to apply the configuration If there are errors in the configuration alarms will be displayed and further information will be available in the alert log This should enable the errors to be easily corrected sk Page 90 2 12 1 BSPEngine ini file Sections Quick reference for finding documentation relating to configuration of the following Category Refer to GPS Data A 3 1 6 Nav1 p 178 Gyro Data A 3 1 7 Gyro1 p 181 Echo Sounder A 3 1 8 Depth p 182 Motion Sensor A 3 1 9 RP01 RP03 p 182 Cable Engines A 3 1 2 Plc Cable engine configuration p 165 Custom inputs A 3 1 3 CustomInputFormat p 166 Custom outputs A 3 1 5 CustomOutputFormat p 171 CSV Logging A 3 1 15 LogFile1 p 197 SQL Logging A 3 1 1 System p 157 Permissions A 3 1 1 System p 157 also A 4 Machine acl INI p 206 Other A 3 1 1 System p 157 Page 91 2 13 Custom Data Inputs Decoding Custom Inputs into BSPEngine is split into two sections in the BSPEngine ini file Decoding the input string Assigni
139. d as friendly names for example 1 Save File As Cable Innovator sdf 2 Load from file Cable Innovator sdf SDF files can be loaded modified or saved on any Blue Spider computer Replication will occur to all other Blue Spider machines automatically Page 28 Blue Spider has a built in shape definition editor but there is a replacement for this with some additional extra features which are of particular use with 3D shape definitions If the option to install the SDF Editor is chosen in the installation options this enhanced editor replaces the one in Blue Spider and also in the Post Processing Tool if installed Use of the replacement SdfEdit tool is strongly recommended The built in dialog in Blue Spider will be removed in a future release The full installation includes the new editor and Blue Spider and PPT will use it if installed Page 29 SDF files contain the following information 1 2 3 4 5 6 7 8 9 Shape of the vessel or mobile 2D outline Name of the vessel or mobile Offset measurements and names POI Colours Direction indicator 3D shape and texture files for 3D shapes Anchor details Barge Proximity Alerts Display options 10 MMSI number for AIS Page 30 WORK By default SDF files are known as In the Blue Spider folder on a Server a Blue Spider System Config NavShip sdf the ship b Blue Spider System Config MobileObjects folder the defin
140. d correctly The files are not required P server_link_B cfg Notepad File Edit Format View Help in a basic 2 server s master slave arrangement Blue Spider will attempt to default to OPS1 and OPS2 if they are not there however it is good practice to always add these files Note These files DO NOT go into the System Config folder This is because if Blue Spider is installed as Blue Spider client sk Page 64 only with no BSPEngine then the System Config folder will not exist Note that although the term server is used for Box A and Box B these machines do not have to actually run a windows server operating system and can be normal workstations BSPEngine can run on a normal workstation or on a windows server machine 2 3 4 DNS 6 Blue Spider uses DNS Domain Name Service to g resolve computer names to IP addresses For pe example OPS1 computer name 10 10 57 1 IP Address The DNS Server A Windows Service runs on both Servers OPS1 and OPS2 and they are and should remain synchronised The resolution of a computer name may be served by either Server Problems can exist if the DNS becomes corrupted or the two DNS servers lose synchronisation with each other The effects may be that computers can be pinged by IP address but not by name Another effect is that Box A may not be able see Box B and visa versa In particular server machines that have been in storage for long periods of t
141. e KP range of route line on plan view Fixed KP window either side of SP1 KP Behind SP1 Ahead of SP1 Sfm sool Sfm NAVSYSTEMS Blue Spider User Manual Jun 2013 SK Page 109 The Depth Chart can be set to align itself with the plan view so that at any orientation the KP range that is in view on the plan scale will also be in view on the depth chart The Depth chart shows the following data against route KP The vessel shape distorted to maintain the scale Any subsea vehicles O HPR Beacons Seabed terrain Echo Sounder measured depth Sea Water Height calculated from Veripos or RTK Additionally the graph can display cable catenary however this has not been fully tested and is by no means as comprehensive as say MAKAI This feature also depends on the availability of a cable database file from MS Access that holds data about the characteristics of the cable Page 110 3 1 7 Creating Curved Routes A point to point route can be given curves in Blue Spider There are a few points to bear in mind when creating curves A curved route will have a different KP length compared with the straight line route All ACs can be given the same radius curve Some ACs may need a different radius curve Curved routes can be viewed but don t have to be the Active route In the Route Lines Points and Targets page right click on the route to be curved and se
142. e equal A value greater than zero indicates that the first character that does not match has a greater value in str1 than in str2 And a value less than zero indicates the opposite Page 368 A 8 1 29 stricmp s1 s2 Compare two strings case insentitive This function starts comparing the first character of each string If they are equal to each other it continues with the following pairs until the characters differ or until the end of one of the the strings is reached Parameters s1 First string s2 Second string Return Value Returns an integral value indicating the relationship between the strings A zero value indicates that both strings are equal A value greater than zero indicates that the first character that does not match has a greater value in str1 than in str2 And a value less than zero indicates the opposite Page 369 A 8 1 30 stripos s1 s2 index Find position of substring case insenstive version Searches s1 for the first occurance of s2 Parameters s1 String to be seached s2 String to search for index optional position to start seaching 0 is the first character position Return Value Integer 1 if not found otherwise the 0 based index of the begining of the string s2 in s1 A 8 1 31 strlen s Get string length Returns the length of s Parameters S String Return Value Integer length of the string Page 370 A 8 1 32 strpos s1 s2 index Find position of
143. e made good in degrees A 6 1 282 SP1 Speed Real Number Default caption in log files SP1 SpeedMS Default format specifier 4f Attribute flags TYPE_DOUBLE UNIT_SPEED SCAN_UNIT_ALIAS SCAN_SLOWLOG LOG_VALUE The smoothed SP1 speed in metres per second A 6 1 283 SP1 SpeedKmh Page 311 Real Number Default caption in log files SP1 Speed Default format specifier 4f Attribute flags TYPE_DOUBLE UNIT_SPEED UNIT2_KM_H SCAN_SLOWLOG LOG_VALUE The smoothed SP1 speed in kilometres per hour A 6 1 284 SP1 Target1 Bearing Real Number Default caption in log files SP1 Target1 Bearing Default format specifier 1f Attribute flags TYPE_DOUBLE UNIT_ANGLE UNIT2_DEGREES LOG_VALUE The true bearing in degrees from SP1 to the auxiliary target 1 A 6 1 285 SP1 Target1 Range Real Number Default caption in log files SP1 Target1 Range Default format specifier 1f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE The range in metres from SP1 to the auxilliary target 1 A 6 1 286 SP1 Time String Default caption in log files Overboard Point Time Attribute flags TYPE_STRING TYPE2_TIME ASSOC_NEXT SCAN_NOLOG The time of SP1 GPS HH MM SS SS as received from the primary GPS receiver A 6 1 287 SP1 WGS84 Pos Alt Page 312 Real Number Default caption in log files SP1 Altitude WGS84 Default format specifier 3f Attribute flags TYPE_
144. e variable name NAVSYSTEMS k Blue Spider User Manual Jun 2013 S Page 434 This means that the particular DOF for a given bone will be driven by that variable unless a script overrides this behaviour e translate x e translate y e translate z These variable values must be in metres e rotate x e rotate y e rotate z These variable values must be in degrees Page 435 D 2 Bone scripts Bone scripts can be used to control the positions and orientations of individual bones The following script is used to animate a vessel A frame SGeESHREBBEBwoVauaune var arm_angle new ServerVar ship ploughArmAngle var plough_arm new Bone PloughArm var arm_root new Bone ArmRoot var stbd_ram_piston new Bone StbdRamTopRoot var port_ram_piston new Bone PortRamTopRoot var port_ram_cyl new Bone PortRamBottomRoot var stbd_ram_cyl new Bone StbdRamBottomRoot var stbd_ram_piston_child new Bone StbdRamPiston var port_ram_piston_child new Bone PortRamPiston var port_ram_cyl_child new Bone PortRamCylinder var stbd_ram_cyl_child new Bone StbdRamCylinder function onUpdate port_ram_cyl_child parentLookAt port_ram_piston stbd_ram_piston_child parentLookAt stbd_ram_cyl port_ram_piston_child parentLookAt port_ram_cyl NAVSYSTEMS k Blue Spider User Manual Jun 2013 S Page 436 NAVSYSTEMS IOM LIMITED Blue Spider GUIDE TO THE VESSEL SIMULATOR Ap
145. easurement so slant range is not taken into account Range targets see page after next Page 117 Target relative to waypoint on a route Page 118 Range Targets are for creating targets relative to or from any point on the vessel that has a SteerPoint name A Range Target might be used when attempting to maintain a fixed layback of a towed mobile from the stern for example Create Target xf Create a target named target At position Click to define point on screen Latitude Longitude o o i O Easting fi 4 Ba rge Northing Absolut Mobile Management A Symbol Range Rings System BE e Enter Enter amp Make Active Target 4 1 Ove rvi ew I Keep dialog box open Cancel Anchor handling is built into Blue Spider The system provides the following features 1 One barge can work with multiple tugs 2 An anchor position is selected on the barge and is automatically sent to the selected tug 3 The tug confirms completion of the anchor drop or anchor recovery with a simple click and the confirmation of the actual drop recovery position is Sk Page 119 received and logged on the barge Create Target x GYM_Export_cable 4 0 08 120312 s NAVSYSTEMS k Blue Spider User Manual Jun 2013 SS Page 120 Create Target xj vessel offset Sonardyne Transducer Fun Ho Mean NAVSYSTEMS k Blue Spider
146. ection of the anchor to be recovered Once the tug has arrived at the anchor and commenced the pickup by pressing the Anchor Recovered button on screen the position at which the anchor was recovered can be recorded This can be achieved by clicking on the Recovery completed button within the Confirm Anchor Pickup Dialog If necessary it is possible to use the Click to adjust Position on Screen prior to pressing the confirm button if the actual position of recovery was missed due to the physical anchor operation at the tug see OQ Qu ve Tug 1 HATHI kmh Jaire Tug 2 STATUM Cancel Confirm Anchor Pickup Once recovered the anchor recovery position is reported back to the barge and recorded in the anchor log The anchor sk Page 140 wire display changes to yellow as shown in the previous figure vif 8 D Q QU vy x 0 N216 FA s Tug1 HATHI Speed 0 48 km h Target Pontra Maris Barge Speed 0 01 km h Anchor 2 is up AnchorDropped Anchor Recovered Anchor Recovered At this point a new target for deployment may be passed to the tug or the anchor may be racked Page 141 4 3 7 Anchor Racking To rack an anchor the barge selects the Rack option within the Vessel Anchor Handling Status Dialog BP Vessel Anchor Handling Status Anchor Where Racking Option Page 142 A Confirmation dialog will then be presented to provide a level of security to this operation GERA M Q
147. ective shortening of this height due to pitch and roll of the ship The altitude recorded by this variable is with respect to the WGS84 geoid A 6 1 191 Ship DesiredSpeedKmh Real Number Default caption in log files Desired Ship Speed km h Default format specifier 4f Attribute flags TYPE_DOUBLE UNIT_SPEED UNIT2_KM_H LOG_VALUE The desired ship speed in kilometres per hour This is applicable for cable operations where the ship speed is based on cable speed and slack requirements sk Page 285 A 6 1 192 Ship Draft Real Number Default caption in log files Ship Draft Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE SCAN_SLOWLOG Distance from the keel to the waterline A 6 1 193 Ship EchoSounderDepth Real Number Default caption in log files Ship Echo Sounder Depth Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE Raw water depth reading obtained from the primary echo sounder A 6 1 194 Ship EchoSounderDepth1 Real Number Default caption in log files Ship Echo Sounder Depth 1 Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE Raw water depth reading obtained from echo sounder 1 A 6 1 195 Ship GeoidWaterDepth Real Number Default caption in log files Ship Geoid Water Depth Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE
148. ed in this case The Master Slave automatic changeover option will only be available when both servers are available In the case of tug installations or other vessels running a Master server only this The RPC server is unavailable will be seen on the BSPEngine B side of the dialog box Page 62 2 3 2 Master Slave Switch The Master and Slave are selectable from the radio buttons and whilst it is possible to select two Masters or two Slaves the Blue Spider system will alert all the computers on the network if one of these undesirable options is selected with a banner message Page 63 2 3 3 Box A and Box B These represent the servers that this Blue Spider is referring to for its Master and Slave The selections of the correct server s are not user changeable in the dialog box but are set by text files in the Blue Spider folder r ial gt GO NavSystems Blue Spider gt Search Blu P o Organize Open Burn New folder a Hl Favorites S Name 2 Date modified E Desktop S navinet_120613 dll 27 06 20 b Downloads amp sdfrender dil 25 06 2013 Recent Places 2 server_link_A cfg 25 02 2013 11 12 La server_link_B cfg 03 07 2013 09 33 E C3 Libraries AS 1 LS 2 With the introduction of Barge Management and stand alone servers as well as OPS1 and OPS2 on the same vessel it is imperative to have these files configure
149. eens automatically NAVSYSTEMS k Blue Spider User Manual Jun 2013 S Page 51 2 2 1 Info Tab 2 2 1 1 Name This is the name given to the Mobile If you change the name of the mobile you will also rename the mobile as it appears in the mobiles database 2 2 1 2 MMSI The MMSI code does normally not apply to mobiles If however you do have AIS tracking capability you can enter the MMSI number in order to prevent the AIS object from being displayed 2 2 1 3 Object Type This is always Mobile when configuring a mobile sdf There are no other options 2 2 1 4 Mass Mass Visc Damp and Spec Noise can all be ignored for mobiles 2 2 1 5 Appearance Use the Minimum display size to ensure that the mobile will always be visible This feature is useful when the plan screen is Zoomed out Page 52 Show orientation arrow is a useful feature to enable when working with mobiles If the arrow is not visible on the ROV there are two likely reasons 1 The ini file does not map the heading input to ROV1 Heading or ROV2 Heading 2 The heading information is not being received 2 2 2 Outline Tab The outline tab for mobiles is the same as the outline tab for a ship Refer to 2 1 3 Outline Tab p 36 Page 53 2 2 3 Points of Interest Tab Points of Interest are defined for the mobiles These include the beacon positions lox eles ene Gv ad B olan Properties ax E ie
150. ehicle offset which is the steer point offset for SP3 blank if a vessel offset is used These variables are available for the first 8 mobile offsets Position easting of SP2 offset 1 Position northing of SP2 offset 1 Variable Name SP2 Offsets Pos1 Alt SP2 0ffsets Pos1 Elev SP2 0ffsets WGS84 Pos1 Alt SP2 0ffsets WGS84 Pos1 La t SP2 0ffsets WGS84 Pos1 Lo n SP2 Pos Alt SP2 Pos Elev SP2 Pos Lat SP2 Pos Lon SP2 Positioning SP2 Relative DX SP2 Relative DY SP2 Relative DZ SP2 Route Arc DOL SP2 Route Arc KP SP2 Route DOL SP2 Route Grid DOL SP2 Route Grid KP SP2 Route KP Page 229 Description These variables are available for the first 16 mobile offsets Position altitude of SP2 mobile or ship offset 1 Elevation from seabed to mobile vessel offset Position altitude of SP2 offset 1 converted to WGS84 Position latitude of SP2 converted to WGS84 mobile or ship offset 1 Position longitude of SP2 converted to WGS84 mobile or ship offset 1 Position of SP2 altitude Elevation of SP2 above the seabed Geodetic position of SP2 latitude Geodetic position of SP2 longitude Positioning mode of the vehicle which is currently SP2 Delta X offset of SP2 from the vessel CRP Delta Y offset of SP2 from the vessel CRP Delta Z offset of SP2 from the vessel CRP Route arc DOL value of SP2 Route arc KP value of SP2 Route DOL value of SP2 Route G
151. el variables in the INI file Example Variables Tankl lLevel INPUT Hans Level INPUT Tanks Level JNEU Tanki Level INPUT Here instead of specifying an expression for each variable we use the placeholder _INPUT this means that we will be able to assign to these variables from a script sk Page 385 Next we must create some Javascript code lt lt tank_levels js gt gt Server calcUserVarsStagel connect updateTankVars function updateTankVars if variableUpdated InputChannell Messagel Fieldl amp amp variableUpdated InputChannell Messagel Field2 De var t Number InputChannell Messagel Field2 if E gt OMe lt 4 SS Tank t Level InputChannell Messagel Fieldl The first line in the js code is executed once for initialization It connects an event called calcUserVarsStage1 to our function It means that BSPEngine will call our function on every cycle of its main processing loop In our function we must check to see if the input variables were updated This will only be true if the mystery message has been received and spilt into the input fields It is very important to do this check or we will end up using a lot of processing power and achieve nothing Next we extract the tank number Notice that the input field variables are strings so we must coerce the value to a number We then check that the tank number is valid and in the range 1 to 4 Page 386 After this
152. ell Vars GPS1 Pos Lat is the same as GPS1 Pos Lat is the same as GPS 0 Pos Lat A 11 2 2 Server This is an object that can be used in scripts See A 10 3 Updating variables conditionally Page 391 A 12 AIS Filtering AIS filtering is an option that can be used to significantly reduce the amount of AIS data needing to be logged For the raw device input variable Portinput AIS 01 there is another corresponding variable called PortInput AlS_01 Filtered This variable exists regardless of whether filtering has been configured If filtering has not been configured then this variable just holds the unfiltered raw input data See section A 5 Communications Device Names p 207 A 12 1 Configuring AIS filtering To configure AIS filtering you set up a new section in the INI file as follows AIS 01 FilterRadius 50000 FilterUnknown true FilterDeferIdents true FilterInclude SATALR Page 392 There are a number of options for the AIS filter A 12 1 1 FilterRadius This sets up a distance filter with the specified distance in metres This is the primary means of reducing the amount of data that needs to be logged A 12 1 2 FilterUnknown If this key is present and set to true then any message that is not a known AIS message will be automatically excluded from the output Most AIS systems will output a number of additional messages that BSPEngine does not recognize or decode There is often very li
153. ely BSPNet can create Virtual Com Ports for use with the Data Simulator The port monitor can be used to view raw data Page 73 BSPNet and BSPEngine can be started from Services Only enable the COM ports that BSPNet requires on each PC The other ports will then be available for other applications BSPNet ports are bi directional gE BSPNet Communication Settings NAVDEV2 Local Machine File Help COM1 COM2 Virtual COM3 4800 8 1 None None COM4 38400 8 1 None None COM5 Virtual COM6 COM7 COM8 Virtual CoM9 COM10 m RENE 4 Configuration COM1 porode raa BSPNet Service Status The service is running NAVSYSTEMS k Blue Spider User Manual Jun 2013 Ss Page 74 2 4 2 Configuring Ports COM ports are assigned to Channels in Blue Spider Survey input channels are predefined and other Channels are user customisable The predefined channels are on the left and the custom channels are on the right of the tabs BA Communications GPS1 Input GPS2 Input GPS3 Input GYRO1 Input G YRO2 Input GYRO3 Input Dolog Input Server Name COM Port The BSPNet service is running Mo is Apply Port Mode Baud rate Dstabits Stop bits Parit Flo Monitor Cancel a BSPNet Even though a channel GPS1 for example is a predefined System channel it is possible to alter its name This is done using two s
154. emain clear of cables pipelines seabed structures obstructions UXO targets by the project specific clearance distance Range rings or Guard Lines can be used around these positions to help maintain this distance THE ONLY OVERIDE TO THIS WILL BE VESSEL SAFETY WHEN IF NECESSARY TO SAFEGUARD PERSONNEL VESSELS FROM HARM AN ANCHOR MAY BE DEPLOYED IMMEDIATELY TO THE SEABED THIS WILL BE AT THE DISCRETION OF THE BARGE TUG MASTER FOR WHOM THE ULTIMATE SAFETY OF THE VESSEL PERSONNEL RESIDES sk Page 130 4 3 3 Operation at Barge For Deployment The system will automatically recognise the anchor handling tugs on the Blue Spider system and provide a notification when none can be detected Access to the barge management system functions is obtained through the Remote tab The process will be initiated at the Barge when the Barge Master will decide which 2 FF 4 09 29 19 Union Beaver ASSET SRE Speed 0 00 km h Water 21 20 m Target Remote Tab Anchor Handling Button anchor will be deployed and the by which anchor handling vessel P issel Anchor Har Ing State x Request Recovery Page 131 By clicking on the relevant anchor and then Request Drop the following Dialog is presented in which the required AHT can be chosen for this anchor operation note that in the Figure 3 below only the Union Beaver is shown in the list as no other remote vessels are currently detected r Select Vessel To Drop Anchor 1
155. en at very low speeds the ship course is always rather erratic A 6 1 207 Ship GPS VTG Speed Real Number Default caption in log files VTG Ship Speed Default format specifier 4f Attribute flags TYPE_DOUBLE UNIT_SPEED UNIT2_KM_H SCAN_SLOWLOG LOG_VALUE The ship speed as reported by the GPS VTG message if present from the primary GPS Depending on ship speed and the make of GPS receivers being used this the speed value may be either more reliable or totally unreliable or somewhere in between A 6 1 208 Ship GridHeading Real Number Default caption in log files Ship Grid Heading Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_ANGLE UNIT2_DEGREES LOG_VALUE Grid heading based on delta easting northing and not a true direction This is computed using vessel heading from the primary gyro possibly adjusted with a fixed calibration offset A 6 1 209 Ship Gyro ReceiverFlags Integer Default caption in log files Gyro Receiver Mode Page 290 Default format specifier Ox 08x Attribute flags TYPE_LONG LOG_VALUE SCAN_SLOWLOG A set of bitflags describing how the primary Gyro system is configured The least significant 3 bits indicate the primary gyro index this can be either 0 or 1 If bit 0x8000 is set then the system gyro has been set to manual mode and the primary index is ignored A 6 1 210 Ship Heading Real Number Default caption in log files Ship Headi
156. ension Default format specifier 2f Attribute flags TYPE_DOUBLE UNIT_FORCE UNIT2_KN SCAN_SLOWLOG LOG_VALUE Target cable tension cable operations A 6 1 90 Clara AutoSolveMode Integer Default caption in log files Clara Auto Solve Mode Default format specifier d Attribute flags TYPE_LONG SCAN_SLOWLOG LOG_VALUE The Clara calculation auto solve mode 0 no autosolve 1 use inclinometer angle 2 use top tension measurement A 6 1 91 Clara Cablelnfo String Page 259 Default caption in log files Clara Cable Info Default format specifier d Attribute flags TYPE_STRING SCAN_SLOWLOG LOG_VALUE Clara calculation cable name details This variable holds infomation describing the users cable selection A 6 1 92 Clara MBTension Real Number Default caption in log files Clara Manual Bottom Tension Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_FORCE SCAN_SLOWLOG LOG_VALUE Clara calculation manually set bottom tension This is NOT a calculation result but the last manual value entered by the user if yension was manually adjusted A 6 1 93 Clara MSeabedSlope Real Number Default caption in log files Clara Manual Seabed Slope Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_ANGLE UNIT2_DEGREES SCAN_SLOWLOG LOG_VALUE Clara calculation manual seabed slope entered by user If the user has manually entered the seabed slope t
157. ent The list can be extended to add new ellipsoids datums and projections by manually editing this configuration file Recently it has been necessary to add support for vertical references which are not directly supported by the Blue Marble software In particular it was necessary to support the DVR90 Danish Vertical Reference To provide the additional functionality required another 3rd party library KMSTrLib2008 is now used The support for this library has been added seamlessly in such a way as the user is hardly aware that it is being used The KMSTRLIB library is executed only if the operator selects a datum that requires its use The choice of whether to use the library or not is made automatically depending on the chosen working datum BSPEngine knows whether to use the sk Page 417 library by examining the definition for the selected datum The datum definitions are defined in the geocalc dat Blue Marble configuration file To use DVR90 and other datums supported by KMSTRLIB the geocalc dat file must be modified or a modified version supplied such that the additional datum names are defined A special tag is added to datum definitions requiring the use of KMSTRLIB This tells BSPEngine to use addional vertical corrections via KMSTRLIB DLL just for these tagged datums Thus the choice of vertical reference is made by selecting the required datum and the datum and vertical reference are effectively combined C 2
158. eoid If the continental land masses were criss crossed by a series of tunnels or narrow canals the sea level in these canals would also coincide with the geoid In reality the geoid does not have a physical meaning under the continents but geodesists are able to derive the heights of continental points above this imaginary yet physically defined surface by a technique called spirit leveling Being an equipotential surface the geoid is by definition a surface to which the force of gravity is everywhere perpendicular This means that when travelling by ship one does not notice the undulations of the geoid the local vertical is always perpendicular to the geoid and the local horizon tangential component to it Likewise spirit levels will always be parallel to the geoid Note that a GPS receiver on a ship may during the course of a long voyage indicate height variations even though the ship will always be at sea level tides not considered This is because GPS satellites orbiting about the centre of gravity of the Earth can only measure heights relative to a geocentric reference ellipsoid To obtain one s geoidal height a raw GPS reading must be corrected Conversely height determined by spirit levelling from a tidal measurement station as in Sk Page 413 traditional land surveying will always be geoidal height Modern GPS receivers have a grid implemented inside where they obtain the geoid for e g EGM 96 height over the
159. er Default caption in log files SP3 Speed Default format specifier 4f Attribute flags TYPE_DOUBLE UNIT_SPEED UNIT2_KM_H SCAN_SLOWLOG LOG_VALUE The SP3 speed in kilometres per hour A 6 1 390 SP3 SpeedKmh Real Number Default caption in log files SP3 Speed Default format specifier 4f Attribute flags TYPE_DOUBLE UNIT_SPEED UNIT2_KM_H SCAN_ALIAS sk Page 340 LOG_VALUE The SP4 speed in kilometres per hour A 6 1 391 SP3 SpeedMS Real Number Default caption in log files SP3 SpeedMS Default format specifier 4f Attribute flags TYPE_DOUBLE UNIT_SPEED SCAN_UNIT_ALIAS LOG_VALUE The SP3 speed in metres per second A 6 1 392 SP3 Target1 Bearing Real Number Default caption in log files SP3 Target1 Bearing Default format specifier 1f Attribute flags TYPE_DOUBLE UNIT_ANGLE UNIT2_DEGREES LOG_VALUE Old style name SP3Target1Bearing The true bearing in degrees from SP3 to the auxilliary target 1 A 6 1 393 SP3 Target1 Range Real Number Default caption in log files SP3 Target1 Range Default format specifier 1f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE The range in metres from SP3 to the auxilliary target 1 A 6 1 394 SP3 WaterDepth Real Number Default caption in log files SP3 Water Depth Default format specifier 3f Page 341 Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE The water depth
160. er 1 BSPEngine expects all GPS receivers to output position in WGS84 and this means the altitude is also with respect to the WGS84 geoid The altitude here is the altitude of the antenna not the CRP Computed DX value of CRP position computed by GPS1 Computed DY value of CRP position computed by GPS1 Computed DZ value of CRP position computed by GPS1 Computed altitude value of CRP position derived from GPS1 in your working datum vertical reference Computed CRP position latitude derived from GPS1 in your working datum Computed CRP position longitude derived from GPS1 in your working datum Computed altitude value of CRP derived from GPS1 in WGS84 Computed CRP position latitude derived from GPS1 in WGS84 Computed CRP position longitude derived from GPS1 in WGS84 Time date of GPS1 DD MM YYYY as received from GPS receiver 1 GPS1 DatumShifted Pos Alt Position of GPS1 altitude GPS1 DatumShifted Pos Lat Geodetic position of GPS1 latitude GPS1 DatumShifted Pos Lon Geodetic position of GPS1 longitude Variable Name GPS1 GeoidalSeparation GPS1 Grid Easting GPS1 Grid Northing GPS1 HDOP GPSLPDOP GPS1 Pos Lat GPS1 Pos Lon GPS1 Quality GPS1 Sats GPS1 Time GPS1 VDOP GPS1 GPS2 Heading GPS2 GPS3 Heading GPS3 GPS1 Heading Gyro1 Corr Heading Gyro1 Heading Gyro1 Message Gyro1 Raw Heading Page 218 Description Geoidal separation reported by the GPS receive
161. erence Point To compute the absolute position latitude longitude altitude of any offset BSPEngine automatically takes account of the gyro heading and vessel pitch and roll In this way any vessel offset may be used as a steer point SP1 or SP2 Sk Page 419 C 2 6 Mobile Steer Points Subsea equipment such as an ROV or Plough can also have a vessel definition defining its own shape and offsets These offsets can be used as the secondary steer point SP2 Such equipment is normally positioned using acoustic HPR methods e g USBL but a separate pressure based depth sensor is also used When computing the position of a mobile offset the HPR system gives the XYZ position relative to the vessel of a beacon on the mobile BSPEngine uses the relative position to compute the absolute position by shifting from the vessel reference frame to the mobile beacon position and then to the mobile offset being calculated In doing this a number of factors are taken into account Firstly the XYZ position is corrected to be relative to the CRP although this correction is not normally needed as most modern HPR systems are set up such that their CRP coincides with ours The vessel gyro heading is then used to rotate in the XY plane the ship relative heading from the HPR system into a north relative one This offset is then applied to the already known vessel CRP absolute position in order to determine the position of the beacon on the mobile Fin
162. ertinente ALS Wil Filtered trigger Portinput AIS Oil Filterset LogToFile 2 LogFile2 Title AIS Type Ourate BaseFileName FilteredAIS Extension txt axLines 65536 Sample output AIVDM 1 1 A 35D7EH50000 msFLdjD lt Lp J0000 0 20 AIVDM 2 1 5 B 53P70a02 KQIS1SN21LPU lt P4m0Ttr22222221 000005Kel lt 1PC3Cm 0 4D Page 398 AIVDM 2 1 6 B 55D7EH2W3000Pw 33 0t lt D4r04hE9B222222221S2Pk836 0s QPC3Cm 0 35 AIVDM 2 2 6 B E28888888888880 2 56 AIVDM 1 1 A 35D7EH50000 msFLdjD lt Lp J0000 0 20 AIVDM 1 1 A 333d3410000 sd Lc7AM 2nP0000 0 0A AIVDM 1 1 B 14V fNOOO0O pSVLdgWS gt F I20SW 0 58 lAIVDM 1 1 B 14V fN00000 pSVLdgWS gt F 120SW 0 58 lAIVDM 1 1 B 14V fN00000 pSVLdgWS gt F 120SW 0 58 AIVDM 1 1 A 33udhF5P000 oU8Ldg0hO w00000 0 0E AIVDM 1 1 A 33udhF5PO000 oU8Ldg0hO w00000 0 0E AIVDM 1 1 B 13P9cvPOhOO 16 Ldd37rUdv00S 0 1C To log filtered or raw AIS data you need to configure a port as the AIS input by assigning an port to the AIS_01 device name To configure logging of raw input data to be logged as received and without CSV formatting it is easiest to configure a custom output format and specify that this be logged to a particular output file LogToFile 2 LogFile2 is configured as a Type Output log and the file extension is set to TXT Finally we place a limit on the number of lines To log the raw AIS input data or any other raw input data in a similar way simply replace
163. escription Attribute flags TYPE_STRING LOG_TEXT The fix description string This is set when a fix is taken See also Logging Comment This variable indicates the type of fix For automatic fixes it will have the value Automatic A 6 1 144 Logging EventNo Integer Default caption in log files Event No Default format specifier 03d Attribute flags TYPE_LONG LOG_VALUE The last event number used when writing to CSV log files The value is updated whenever a NavSlack event is taken by the user regardless of whether CSV logging is enabled If you are not using NavSlack then this variable is not used A 6 1 145 Logging FixedSP String Default caption in log files FixedSP Attribute flags TYPE_STRING LOG_VALUE The last fix SP when writing to CSV log files The value is updated whenever a manual fix is performed regardless of whether CSV logging is enabled It is blank for automatic fixes but for manual fixes will contain the string SP1 SP2 or SP3 A 6 1 146 Logging FixNo Integer Default caption in log files Fix No Default format specifier 03d Attribute flags TYPE_LONG LOG_VALUE Page 273 The last fix number used when writing to CSV log files The value is updated whenever a manual or automatic fix is performed regardless of whether CSV logging is enabled Automatic fixes are usually time or distance based A 6 1 147 Logging Primary1 AnticipatedSize String Default capt
164. essel heading derived from GPS1 to GPS2 vector A 6 1 114 GPS1 Grid Easting Real Number Default caption in log files GPS1 Easting Default format specifier 2f Attribute flags TYPE_DOUBLE TYPE2_EAST SCAN_NOLOG LOG_VALUE sk Page 265 The grid position of GPS1 easting The position given here is according to your selected map projection and datum A 6 1 115 GPS1 Grid Northing Real Number Default caption in log files GPS1 Northing Default format specifier 2f Attribute flags TYPE_DOUBLE TYPE2_NORTH SCAN_NOLOG LOG_VALUE The grid position of GPS1 northing The position given here is according to your selected map projection and datum A 6 1 116 GPS1 HDOP Real Number Default caption in log files GPS1 HDOP Default format specifier 1f Attribute flags TYPE_DOUBLE LOG_VALUE The HDOP horizontal dilution of precision as received from the GPS receiver 1 A 6 1 117 GPS1 PDOP Real Number Default caption in log files GPS1 PDOP Default format specifier 1f Attribute flags TYPE_DOUBLE LOG_VALUE The PDOP dilution of precision as received from the GPS receiver 1 A 6 1 118 GPS1 Pos Lat Real Number Default caption in log files GPS1 Latitude Attribute flags TYPE_DOUBLE TYPE2_LAT UNIT_ANGLE LOG_VALUE Page 266 The geodetic position reported by GPS1 latitude The position given here is the raw position in WGS84 A 6 1 119 GPS1 Pos Lon
165. etector fitted then just set the type to None If you do have a cable detector and its either a TSS340 or 350 or both then you may need to configure it here For a TSS the Lateral Offset and Vertical Range variables should be set to the input variables that bring in these values from the input message from the unit sk Page 56 For Innovatum Smarttrak enter variable names for the Horizontal and Vertical displacements The other variables listed in the table can be specified but they are not actually used The coil position needs to be specified as an offset So make sure you have added one to the Ref Points Page 57 2 2 4 1 How burial is calculated The burial calculation fairly straightforward but it does take the attitude pitch and roll of both the mobile and the ship into account The following diagram illustrates essentially how the calculations are performed MSBL Altitude Cable Altitude CRP Z 0 Page 58 Where Wb Raw water depth from bathy sensor on ROV Pz Profiler Z offset from CRP IZ Innovatum Z offset from CRP Bz Bathymetry Z offset from CRP Vr Vertical range to cable from Innovatum coils Pr Profiler range from heads to mean seabed Wa Water line altitude from vertical datum e g EGM96 Blue Spider computes MSBL altitude as follows MSBL altitude Wa Wb Bz Pz Pr Blue Spider computes Cable altitude as follows Gable alltitu ude Wa gt Wh 7 T2 F Ve
166. f variables latitude longitude time and date it is possible to use alternative format specifiers A 7 2 2 1 Date and time formats Date and time variables can be formatted using a format specifier such as yyyy mm dd or hh nn ss sss A 7 2 2 2 Latitude and longitude formats Latitude or longitude variables can be formatted using format specifiers such as DDD mm mmm H DDD ddddddd HDDD mm ss ssss Page 352 A 7 3 Variable calculation dependencies By default variables defined in the INI file are automatically recalculated whenever any of the variables used in the expression are changed In most cases this is an acceptable default behaviour For expressions involving many variables or conditionally using different input variables this default behaviour may result in an excessive number of recalculations of the output variable This also means that if the output variable has an associated history object that the number of entries added to the history is increased and this can results calculated statistics being artificially skewed Consider a variable that depends on ship position and heading Ship position and heading typically arrive in different messages at different times and possibly different rates You may only wish to calculate such a variable when the GPS position is updated To prevent the gyro heading being used as well you need to override this default behaviour To do this add an additional attribute calc_
167. fault caption in log files Primary Cable Length Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE UNIT2_KM LOG_VALUE sk Page 256 Cable length in kilometres for the primary cable channel cable operations A 6 1 80 Cable Primary SlackFromSectionStart Real Number Default caption in log files Primary Slack From Section Start Default format specifier 1f Attribute flags TYPE_DOUBLE UNIT_RATIO UNIT2_PERCENT LOG_VALUE Smoothed slack percentage from section start for primary cable channel cable operations A 6 1 81 Cable Primary Smoothed Slack Real Number Default caption in log files Primary Smoothed Slack Default format specifier 1f Attribute flags TYPE_DOUBLE UNIT_RATIO UNIT2_PERCENT LOG_VALUE Smoothed slack percentage for primary cable channel cable operations A 6 1 82 Cable Primary Smoothed Speed Real Number Default caption in log files Primary Cable Speed Default format specifier 2f Attribute flags TYPE_DOUBLE UNIT_SPEED UNIT2_KM_H LOG_VALUE Smoothed cable speed in km h for the primary cable channel cable operations A 6 1 83 Cable Primary Smoothed Tension Real Number Default caption in log files Primary Cable Tension Default format specifier 1f Attribute flags TYPE_DOUBLE UNIT_FORCE LOG_VALUE Page 257 Smoothed cable tension in kN for the primary cable channel cable operations A 6 1 84 Ca
168. fier 4f Attribute flags TYPE_DOUBLE UNIT_SPEED UNIT2_KM_H SCAN_SLOWLOG LOG_VALUE The SP2 speed in kilometres per hour A 6 1 336 SP2 SpeedKmh Real Number Default caption in log files SP2 Speed Default format specifier 4f Attribute flags TYPE_DOUBLE UNIT_SPEED UNIT2_KM_H SCAN_ALIAS LOG_VALUE The SP2 speed in kilometres per hour A 6 1 337 SP2 SpeedMS Real Number Default caption in log files SP2 SpeedMS Default format specifier 4f Attribute flags TYPE_DOUBLE UNIT_SPEED SCAN_UNIT_ALIAS LOG_VALUE The SP2 speed in metres per second A 6 1 338 SP2 Target1 Bearing Real Number Default caption in log files SP2 Target1 Bearing Default format specifier 1f Attribute flags TYPE_DOUBLE UNIT_ANGLE UNIT2_DEGREES LOG_VALUE The true bearing in degrees from SP2 to the auxilliary target 1 A 6 1 339 SP2 Target1 Range Page 326 Real Number Default caption in log files SP2 Target1 Range Default format specifier 1f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE The range in metres from SP2 to the auxilliary target 1 A 6 1 340 SP2 WaterDepth Real Number Default caption in log files SP2 Water Depth Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE The water depth at the SP2 offset position if SP2 is a mobile A 6 1 341 SP2 WGS84 Pos Alt Real Number Default caption in log files
169. files In the screenshot above there are several separate mesh files but they are are used as if there is just one There are options on this page the check boxes next to each mesh file to allow individual meshes to be hidden This option is only provided here so you can see which parts of the model belong to the different mesh files In the 3D viewer all meshes will be displayed regardless of the state of these check boxes NAVSYSTEMS k Blue Spider User Manual Jun 2013 Ss Page 48 2 1 7 2 Material files A model will typically have just one material file The material file defines the appearance of the surface area of the ship Typically it will also reference one or more image files to provide a texture mapped surface Image files have to be referenced in the material file and have to be added as support files To use texture mapping the mesh file must also contain texture mapping coordinates for every vertex Alternatively the mesh can be arranged with groups of vertices each being assigned a single material name in the material file which means different areas can be given different colours It depends on how the mesh was produced as to whether will be able to use texture mapping or not Page 49 2 1 7 3 Support files Support files include any images typically png images that are used and referenced by the material file In addition to images for texture mapping support files can include the following e Skeleton
170. g the unit vectors for each angle and then computing the resultant A 9 1 9 avgmod360 The average angle value for angles in degrees 0 to 360 This special average is computed by summing the unit vectors for each angle and then computing the resultant Page 381 A 9 2 Accessing elements Elements can be accessed using Javascript array syntax The values are returned e g historyOf var 0 returns the value of the first element In addition the following two methods can be used e valueAt index Returns the value at the given index e timestampAt index Returns the timestamp at the given index A 9 3 Additional functions The history object also supports a method lowerBound ts This method returns the index prior to or at the given timestamp value Page 382 A 10 Using scripts Scripts can be defined for a variety of purposes e g e Defining your own constants e Creating your own functions to use in expressions in the INI file e Updating variables conditionally Scripts are defined by adding a ScriptInclude section to the INI file See section A 3 1 12 Scriptincludes In addition to the functions defined in section A 8 Built in functions p 354 you can also use standard Javascript functions Page 383 A 10 1 Defining your own constants Self explanatory really but by defining your own constants in a js file you will actually get slightly faster script execution than by defining them i
171. ge 82 2 8 Steerpoints for Vessel and Mobiles 2 8 1 Vessel Steerpoints SP1 is always on the vessel The selection of SP1 determines the position on the vessel to which the displayed position represents and the position that is logged as SP1 in the data logging files In a cable lay SP1 would be the stern being the last known point of the cable For and ROV survey the position of SP1 is likely to be the ROV launch and recovery point SP1 is calculated from the GPS antenna and the vessels CRP through heights x and y offsets vessel heading and with pitch and roll angles applied It stands to reason therefore that the further SP1 is from the antenna the more error is likely to be introduced into the calculation of the SP1 position Therefore the following should be taken into account to achieve minimal errors The GPS antenna should be mounted as close as is practically possible to the SP1 position The gyro calibration must be accurate O The pitch and roll sensor must have corrections applied and must be in the right sense Offsets must be measured as accurately as possible sk Page 83 2 8 2 Mobile Steerpoints SP2 and SP3 are predominantly used for Mobile Steerpoints However they can also be used for additional vessel Steerpoints if there is a requirement to monitor and log 2 or 3 positions on the vessel If there are two ROVs in use the Steerpoints would be configured ROV1 as SP2 RO
172. ged or if objects are added or removed A 6 1 410 System DBR ShipRevision String Default caption in log files Ship Definition Revision Attribute flags TYPE_STRING SCAN_SLOWLOG The vessel definition database revision This is a GUID value that changes whenever the vessel SDF is updated Page 345 A 6 1 411 System DBR VarsRevision String Default caption in log files Variable Table Revision Attribute flags TYPE_STRING SCAN_SLOWLOG The system variable table revision This is a GUID value that changes whenever the variable list is updated due to a reload of the INI file A 6 1 412 System Time String Default caption in log files Time Attribute flags TYPE_STRING TYPE2_TIME ASSOC_PREV The system time in HH MM SS SS format See also System Date A 6 1 413 System Timestamp String Default caption in log files System Timestamp Default format specifier dd mm yyyy hh nn ss ss Attribute flags TYPE_STRING TYPE2_DATETIME SCAN_NOLOG System date and time A 6 1 414 System VMUsage Integer Default caption in log files BSPEngine virtual memory usage Default format specifier Yu Attribute flags TYPE_LONG LOG_VALUE The number of bytes of virtual memory currently used by BSPEngine This variable is provided for debugging of BSPEngine especially with respect to potential memory leaks sk Page A 6 1 415 Target1 Name String Default caption in log files Target1
173. h Ship AvgWaterLine Ship AvgWaterLineWGS84 Ship CableEngines PrimaryC hannel Ship CRP AltitudeWGS84 Ship DesiredSpeedKmh Ship Draft Ship EchoSounderDepth Ship EchoSounderDepth1 Page 222 Description These variables are available for the auxiliary targets Target1 to Target4 Latitude of the current target 1 Latitude of the current target 1 Latitude of the current target 1 Latitude of the current target 1 These variables are available for each RTT channel RTT_01 to RTT_08 Altitude reported by the RTT_01 input Raw heading in degrees reported by RTT 1 Geodetic position of RTT_01 latitude Geodetic position of RTT_01 longitude Water depth reported by the RTT_01 input Averaged altitude of the ship waterline with respect to the working datum Averaged altitude of the ship waterline with respect to the WGS84 geoid Primary cable engine channel number cable operations Altitude reported by the primary GPS receiver but translated to the CRP position Desired ship speed in kilometres per hour Distance from the keel to the waterline Raw water depth reading obtained from the primary echo sounder Variables also available for echo sounder 2 and 3 Raw water depth reading obtained from echo sounder 1 sk Variable Name Ship GeoidWaterDepth Ship GeoidWaterDepth1 Ship GPS AltitudeWGS84 Ship GPS GeoidalSeparation Ship GPS HDOP Ship GPS Pos Alt Ship GPS Pos La
174. h Approximation ES route line will be created with depth information from terrain data loaded in the 3D viewer The number of points added will depend on the deviation tolerance below and the undulation of the seabed Maximum deviation from bathymetry fo o10 m Sampling step size fos m x ms When the process has run a new route line is created with Water Depth information included New positions are interpolated for the new depths e Spider User Manual Jun 2013 Page 107 The new depth positions are not given labels In Blue Spider this does not give cause for any problems however if the route data is exported from Blue Spider to a file and re imported back into Blue Spider the points with no labels are ignored during the importing process The new Route Line can be made active and used in conjunction with a Depth Chart Alternatively the depth route can be used to display a Depth Chart window Page 108 3 1 6 Depth Charts Depth Charts can be shown on any Blue Spider screen by right clicking on the Depth route in the Route Lines box Using the options the vertical scale can be manually adjusted or left on automatic The horizontal scale is determined by how much of the route is in view on the plan screen or by KP limits set either side of SP1 Bathymetry Graph Properties Axis water Clara Inclinometer Depth I Use automatically calculated maximum FR mo fis m Follow visibl
175. hat have equivalents that can be used to calculate all alarms and alerts and optionally system performance information e Raw input messages This means we can playback all data at the rates at which it was received If we made a mistake in configuring the system we can recover the situation retrospectively as a last resort We also have a complete record if an incident should occur e Variables values as they change This means we can generate reports and construct CSV files from the logged data The CSV log files generated this way can have any desired interval e g 1 second 5 seconds etc e Alarms We can correlate occurrence of alarms with changes in configuration input variable values or arrival of unexpected data Certain variables are deliberately omitted from being recorded to the SQL database For instance easting and northing values are never recorded except when recording raw input messages but latitude and longitude are always sk Page 99 recorded Easting and Northing can be reconstructed by the report generator 3 Surveyor Tasks 3 1 Route Lines Points and Targets 3 1 1 Route Lines Route Lines can be manually entered but are generally imported from spreadsheets In order to import from a spreadsheet Microsoft Excel must be installed on the same computer as Blue Spider Blue Spider will produce a warning otherwise 3 1 2 Importing Routes WARNING Blue Spider assumes that all imported geodetic posit
176. he default value is 5m A 3 1 1 6 GPSAutoChangeoverDelay This sets a time delay on decisions to make automatic GPS changeovers If automatic changeover were to occur instantly then this could lead to the possibility of rapid switching between two different GPS receivers The change over delay helps to prevent this situation from arising The default value is 1 8 seconds Any value between 1 2 and 10 seconds is permitted sk Page 160 A 3 1 1 7 HPRPoleRotationCorrection This allows an angle to be applied to HPR positions to compensate for a slight rotation of the HPR pole The default value is of course 0 A 3 1 1 8 AdjustHPRPitchAndRoll If this value is specified as true then the HPR data will be compenstated for vessel pitch and roll The default behaviour is NOT to do this as it is assumed to have already been done by the HPR system A 3 1 1 9 RoviHPRAltitudeDisabled or Rov2HPRAltitudeDisabled Setting either of these values to true will prevent HPR Z data from being used to compute the altitude of a mobile The default is to allow HPR Z to be used but a warning will still be displayed The preferred method to compute altitude of a mobile is using bathy data from a pressure sensor on the vehicle HPR Z is typically very inaccurate A 3 1 1 10 PloughHPRAltitudeDisabled This is the same as the ROV1HprAltitudeDisabled but for plough positioning Page 161 A 3 1 1 11 PositionalSecrecy Positional secrecy i
177. he alignment tab allows a 3D model to be placed in the correct position with respect to the 2D outline and offsets File Grd B elon g Properties ax 1 i Y vs 0 000 2 750 o os0 a j Orientation rotation about each axis rX rY Z 0 0000 a 0 0000 a 0 0000 Origin of Rotation x oY Z 0 0000 0 0000 0 0000 j30 Appearance 1 20 Outine F 30 Model F Visible Ref Points I Locator Cirdes a0 Files Alignment Display Anchors Outline Ref Points Info a sm am If you have more than one mesh file comprising your model you can individually align them by selecting the mesh name or align them all together by selecting All meshes NAVSYSTEMS k Blue Spider User Manual Jun 2013 Ss Page 45 2 1 6 1 Position Offset The position offset is the offset from the origin of the 3D model to the CRP of the vessel By turning on 3D display mode after adding the necessary 3D files you can visually align the 3D model with the 2D outline and reference points It can be difficult to align models correctly particularly if a rotation is needed as well Practice is needed in order to be able to do this correctly and quickly 2 1 6 2 Orientation Orientation specifies the rotation amount about each axis In most cases models will already be aligned to the usual vessel reference frame If you need to enter rotation values then you are likely to
178. he interval of time over which the data for computing the ship speed should be sampled If this key is not present the default value is 60 seconds A value between 2 and 400 seconds can be specified here A 3 1 1 3 WaterlineSmoothingInterval This is the period of time over which the average waterline is calculated The default value is 60 seconds Any value between 2 and 800 seconds can be specified here A longer value is recommended as the average waterline only changes slowly with the rise and fall of the tide A 3 1 1 4 MaxintegratedNavTimeError This sets up filtering for integrated GPS mode This is the maximum allowed discrepancy between timestamps from different GPS receivers If a greater difference is detected then providing 3 GPS receivers are configured the odd one out with the greatest time difference will be automatically rejected Any value between 0 5 and 10 seconds is allowable The default value is 0 9 seconds Page 159 A 3 1 1 5 MaxintegratedNavDistanceError This sets up filtering for integrated GPS mode This is the maximum allowed discrepancy between positions from different GPS receivers The distance difference here is the difference in the CRP position computed by each GPS receiver If a greater difference is detected then providing 3 GPS receivers are configured the odd one out with the greatest distance discrepancy will be automatically rejected Any value between 0 1 and 400m is allowable here T
179. hen this variable holds that value A 6 1 94 Clara UserAdjust String Default caption in log files Clara User Adjustment Verb Default format specifier d Attribute flags TYPE_STRING SCAN_NOLOG LOG_VALUE Clara calculation adjustment verb for internal use This is set by the Clara user interface in Blue Spider whenever the ser makes a manual adjustment It describes the attempted adjustment sk Page 260 A 6 1 95 Clara UseRouteDepth Integer Default caption in log files Clara Using Route Depth Default format specifier d Attribute flags TYPE_LONG SCAN_SLOWLOG LOG_VALUE If the Clara calculation uses route slope then this has the value 1 A 6 1 96 Clara UseRouteSlope Integer Default caption in log files Clara Using Route Slope Default format specifier d Attribute flags TYPE_LONG SCAN_SLOWLOG LOG_VALUE If the Clara calculation uses route slope then this has the value 1 A 6 1 97 GPS1 Altitude Real Number Default caption in log files GPS1 Altitude Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE The altitude reported by the GPS receiver 1 BSPEngine expects all GPS receivers to output position in WGS84 and this means the altitude is also with respect to the WGS84 geoid The altitude here is the altitude of the antenna not the CRP A 6 1 98 GPS1 AltitudeWGS84 Real Number Default caption in log files GPS1 Altitude WGS84
180. his gives an indication of anchor drag amount This variable is for anchor handling operations and is designed for use with anchor log files A 6 1 18 AHT Pickup GDelta X Real Number Default caption in log files Drag East Default format specifier 0f Attribute flags TYPE_DOUBLE LOG_VALUE SCAN_NOLOG The X difference in grid position between the drop position and recovery position This is not the same as AHT Pickup Delta X which gives the true differnce in metres This gives an indication of anchor drag amount Note that grid distances and directions are not neccessarily the same as real world distances This variable is for anchor handling operations and is designed for use with anchor log files sk Page 240 A 6 1 19 AHT Pickup GDelta Y Real Number Default caption in log files Drag North Default format specifier Of Attribute flags TYPE_DOUBLE LOG_VALUE SCAN_NOLOG The Y difference in grid position between the drop position and recovery position This is not the same as AHT Pickup Delta X which gives the true differnce in metres This gives an indication of anchor drag amount Note that grid distances and directions are not neccessarily the same as real world distances This variable is for anchor handling operations and is designed for use with anchor log files A 6 1 20 AHT Pickup Grid Easting Real Number Default caption in log files Pickup Easting Default format specifier 0f
181. hor Anchor1 Anchor1 Anchor1 Anchor1 Anchor1 Anchor1 Anchor1 Anchor1 Page 144 Fairlead Pos Lat Fairlead Pos Lon Fairlead Grid Easting Fairlead Grid Northing Position of the offset on the barge to which the anchor line is connected these are provided for convenience End Pos Lat End Pos Lon End Grid Easting End Grid Northing Drop of the anchor or SP position of tug if anchor is Up These are blank if the anchor is racked Distance Straight line distance to anchor Bearing Range and bearing to anchor end e g to tug or drop position These are blank if the anchor is racked and so on for Anchor2 etc Page 145 BSPEngine will also provide Ship NumAnchors The number of anchors in the vessel definition Ship Anchors Resultant Force Ship Anchors Resultant Bearing The resultant force vector KN of the combined WinchTension variables The existing AHT variables intended for anchor logs have been retained unchanged The new Anchor variables are primarily intended for use in displaying gauges and graphs Page 146 5 Grid KP features In Blue Spider and BSPEngine KP and DOL computations are carried out using rhumb line distances on the ellipsoidal surface of the earth Less sophisticated survey systems and procedures may use grid distances instead Some clients may insist on planning routes using grid distances For this reason the ability to also calculate Grid
182. ime not switched on for a few months are likely to suffer from DNS issues and may require maintenance If it appears that computers cannot be contacted by name including in VNC then it is likely that DNS problems exist DNS problems should be taken seriously and addressed immediately DNS is not part of Blue Spider software Page 66 2 3 5 Single Installation Box A One Server Two important configuration files are box_A opt and box_B opt Box A on NAVDEV2 Master st These files contain nothing One of them simply has to exist if BSPEngine needs to be forced into an A or B state The status A or B is determined either in the server dialog box or at the bottom of the Blue Spider screen In this example box A is Master and box B is not available a typical tug configuration It is rare to force a single computer into the B state r aa cv vtr E Pi pie GO Blue Spider System Config LL E Organize _ Open Burn New folder a Gil Subversion a Name J Date modified Videos E is vay vay eves a d Replication 03 0 2 M Computer 7 anchor status dat 28 06 2 24 By OS C U Box opt 25 02 2013 1142 2 BSPEngine ini 04 06 2013 13 59 G 2 share ls chlbea Sal C DAID OAL ji r k 4 Because this file is used by BSPEngine it must be placed in the System Config folder Page 67 2 3 5 1 Copy Config Copy Config will tra
183. ins the wind direction from the anemometer but this is relative to the vessel sk Page 154 heading so to get the north relative wind direction we need to add two angles You can also add variables together with or perform any other arithmetic Variable can be numbers or strings so you can also do things like concatenate two string variables Variables can also be arrays or composite values If you need to perform a more complex transformation of an input variable you can write your own Javascript code and use it For more information see the list of available built in variables and functions Page 155 A 3 BSPEngine INl The BSPEngine INl file contains much of the configuration required by Blue Spider This is where you configure the inputs outputs variables log files etc The INI file is placed in the A 1 2 1 Configuration location directory A 3 1 INI File Sections The INI file can contain some or all of the following sections Section name Purpose System Can specify the remote configuration location and a few other options CustominputFormat1 Specifies decoders for custom input messages CustominputFormat64 CustominputChannel1 Assigns message s input formats to individual CustominputChannel32 comms channels CustomOutputFormat Defines custom output formats and assigns these to CustomOutputFormat64 given output channels or even to log files Nav1 Nav2 Nav3 Specifies decoders f
184. ion and orientation of the line This means that a grid line may be longer than a rhumb line between the same two waypoints The mid point of a rhumb line and a grid line are not likely to be at the same position Figure 2 Transverse cylindrical projection the Transverse Mercator Blue Spider always draws lines on the screen as rhumb lines but if you have loaded a background chart which contains a line that should be coincident with your route you can notice that the chart line is drawn as a sk Page 148 grid line and diverges from the route Zoom in on the middle of the line and the chart and the route line may now be some distance apart 5 1 Recommendation When a client has requested that we work in Grid KP there is ONE step that SHOULD ALWAYS be taken in order to avoid confusion Since Blue Spider always works in True KP and cable distance deviation etc needs to work using true distances there is only one correct solution ADD EXTRA WAYPOINTS TO ROUTES DURING ROUTE PLANNING Any long sections should be divided in half using the grid midpoint and an extra waypoint inserted at this position This should be repeated until all sections are relatively short In this way the route line now contains no long sections and in UTM at least the True KP and DOL should match the Grid values much more closely Page 149 NAVSYSTEMS IOM LIMITED BSPENGINE INI FILE CONFIGURATION REFERENCE Appendi
185. ion in log files Primary Log 1 Anticipated File Size Attribute flags TYPE_STRING SCAN_NOLOG Anticipated size of the primary log file 1 in bytes A 6 1 148 Logging Primary1 FileSize String Default caption in log files Primary Log 1 Filesize Attribute flags TYPE_STRING SCAN_NOLOG Size of the primary log file 1 in bytes A 6 1 149 Logging Primary1 Unc String Default caption in log files Primary Log 1 UNC Attribute flags TYPE_STRING SCAN_SLOWLOG UNC filename of the primary log file 1 A 6 1 150 MRU1 Heave Real Number Default caption in log files MRU1 Heave Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE The heave reported by motion sensor 1 device in metres Page 274 A 6 1 151 MRU1 Pitch Real Number Default caption in log files MRU1 Pitch Default format specifier 2f Attribute flags TYPE_DOUBLE UNIT_ANGLE UNIT2_DEGREES LOG_VALUE The pitch reported by motion sensor 1 device in degrees A 6 1 152 MRU1 Roll Real Number Default caption in log files MRU1 Roll Default format specifier 2f Attribute flags TYPE_DOUBLE UNIT_ANGLE UNIT2_DEGREES LOG_VALUE The roll reported by motion sensor 1 device in degrees A 6 1 153 Option SpeedGaugeKmh Max Real Number Default caption in log files Option Speed Gauge Kmh Max Attribute flags TYPE_DOUBLE UNIT_SPEED UNIT2_KM_H SCAN_SLOWLOG LOG_VA
186. ions are in WGS84 regardless of the spheroid selected in Blue Spider at the time Failure to observe this could easily lead to the route being misplaced if not working in WGS84 Route Positions Lists issued by GM Charting Dept do not have any geodetic information on them The geodetic information should be verified before importing the data Page 100 3 1 3 Importing Transformations Data is in WGS84 Blue Spider can be configured to be in WGS84 for the data import Geodetic data can be imported After importing the data the geodetic settings in Blue Spider can be changed to the working geodesy The position data will be transformed accordingly Data is not in WGS84 Configure PPT for the same spheroid as the data set and import the data into PPT then either Option a Change PPT to WGS84 and output the Latitude Longitude and Depth coordinates then import them into Blue Spider set for WGS84 or Option b Export the data in Easting Northings and Depth and import directly into Blue Spider with the same geodetic settings Blue Spider will assume that these positions are in the working geodesy Page 101 3 1 4 Viewing Route Lines Points and Targets The top section of this dialog box shows the Routes Tab and the bottom section provides the details of the selected route including bathy information Fi Route Lines Points and Targets Al Roue Lines Ponts Tagets Q Manual Fives ff Survey Pian 5
187. is parameter is usually the result of a comparison v1 Value to be returned if b is true v2 Value to be returned if b is false Return Value Either v1 or v2 depending on the value of b A 8 1 19 hex2bin s Convert hexadecimal string to binary ASCII Returns the resulting binary string Note that this can potentially contain non printable characters Parameters Ss String value binary data Return Value String containing decoded characters Page 363 A 8 1 20 In x Compute natural logarithm Returns the natural logarithm of x The natural logarithm is the base e logarithm the inverse of the natural exponential function exp For base 10 logarithms a specific function log exists Parameters x Floating point value If the argument is negative a domain error occurs and the result will be NAN If it is zero the function returns infinity Return Value Natural logarithm of x A 8 1 21 log x Compute base 10 logarithm Returns the base 10 logarithm of x Parameters x Floating point value If the argument is negative a domain error occurs and the result will be NAN If it is zero the function returns infinity Return Value Base 10 logarithm of x Page 364 A 8 1 22 ord c Get ASCII code of first character in string Returns ascii code of a character value Parameters c String value if the string is longer than once character the remaining characters are ignored Return Value An
188. is very useful when vessels equipped with Blue Spider are working in close proximity to each other or when vessels have to work close to stationary objects The system works by establishing a safe working distance from this vessel to another vessel or fixed point If the proximity area is breached a red circle will be shown around the vessel that has the alarm enabled It is recommended to use the Fill when alert is active feature to ensure the alert is not missed The colour and transparency of the warning circles can be changed There is also an option to animate flash the warning circle Creating a Proximity warning around a stationary point Target is carried out in the Points and Targets table The arrows indicate the size of the circle and the options available Route Lines Points and Targets A Rote Lines Poits Tesgets Q Manual Foes J Survey Pian O01 31 98716E 33852846 000 00 26186 E 166507 76 002 57 23963E 496878 24 002 57 300865 E 49688315 002 57 30218E 496881 20 002 57 30049E 49687925 002 57 23881 E 49687730 002 57 086 E 496883 14 002 57 30218E 496881 19 002 57 0049 E 49687925 002 57 23881 E 496877 30 002 57 23963E 496878 24 ar User Manual Jun 2013 Proximity Aleit Test tagati OTS CENTER OTS 1_R40_C BELLMOUTH OTS 2_R30_C BELLMOUTH OTS 3_R20_C BELLMOUTH OTS 4_R10_C BELLMOUTH OTS E1_R40_TOP_J TUBE OTS 2 RA_TOP_J TUBE OTS 3 R20_TOP_J TUBE OTS 4_R10_TOP_J TUB
189. is worth keeping anchor names reasonably short as this keeps display of anchor related data more compact and easier to read In addition if you have interfaced to equipment to give you support for anchor winch payout length tension and speed You can also specify the holding capacity maximum tension for each winch If you are not using this you can leave blank For more information see 4 5 Anchor Winch Support p 142 Page 40 2 1 5 Display Tab This page determines how the vessel is seen on this screen and on other screens including those linked by the Barge Management system RE Fie Edt View Tools Help Gvyd Hlo Properties ax o p Display Options 1 M Filvesseloutine Moins m afso 4 z 2 Proximity Alert Safework distance 200 00 4 m 2 M Filifnotalerting E oive z 1 ajo 4 fo F Filifalertactve grec Ef afo 4 M Animate Enable proximity alarm IV _ Appearance Minimum display size Eico show label J T show orientation arrow when heading is known s 5 2 pe Ok Apply Cancel 2 1 5 1 Display Options The vessel outline can be filled with a solid or transparent colour The Alpha figure determines the transparency of the colour fill This feature only applies to the 2D vessel shape For use with the 3D viewer a 3D model would normally be present Page 41 2 1 5 2 Proximity Alert This feature
190. ision Variable Name System DBR FixfilesRevision System DBR FixfullRevision System DBR FixlayoutRevisi n System DBR GeodeticsRevis ion System DBR MobileShapesR evision System DBR MobilesRevisio n System DBR RoutesRevision System DBR RoutesShapesR evision System DBR ShipRevision System DBR VarsRevision System Time System Timestamp System VMUsage Target1 Name Page 234 Description Overall revision of all project fix xml tree layout files BUT NOT the associated state data files contents of the FixLayouts folder but just the xml files Overall revision of all project fix xml tree layout files and associated state data files contents of the FixLayouts folder Fix layout file revision NavFix cfg Geodetics database revision NavGeo dat Mobile shapes revision Mobiles database revision Route database revision Route shapes revision Vessel definition database revision System variable table revision System time in HH MM SS SS format System date and time Number of bytes of virtual memory currently used by BSPEngine Variables are available for auxiliary targets Target1 to Target4 Name of the current auxiliary target 1 A 6 1 1 AHT Act Date Page 235 String Default caption in log files Date Attribute flags TYPE_STRING TYPE2_DATE ASSOC_NEXT SCAN_NOLOG The time date at which the action was requested This variable is
191. ition of cable detector easting The grid position of cable detector northing Encoder counter value from cable engine 1 this value will be scaled by the navslack encoder strain gauges scaling factors Raw load cell tension value from cable engine 1 Encoder counter value from cable engine 2 this value will be scaled by the navslack encoder strain gauges scaling factors Raw load cell tension value from cable engine 2 Encoder counter value from cable engine 3 this value will be scaled by the navslack encoder strain gauges scaling factors Raw load cell tension value from cable engine 1 Geodetic position of cable detector altitude Geodetic position of cable detector longitude Geodetic position of cable detector latitude Cable length in kilometres for the primary cable channel cable operations sk Variable Name Cable Primary SlackFromSec tionStart Cable Primary Smoothed Sl ack Cable Primary Smoothed Sp eed Cable Primary Smoothed Te nsion Cable Primary Speed Cable Primary Tension Cable RouteDistance Cable TargetSlack Cable TargetSpeedKmh Cable TargetTension Clara AutoSolveMode Clara Cablelnfo Clara MBTension Clara MSeabedSlope Clara UserAdjust Clara UseRouteDepth Clara UseRouteSlope Page 216 Description Smoothed slack percentage from section start for primary cable channel cable operations Smoothed slack
192. itions for each defined mobile c Blue Spider System Config StationaryObjects folder the definitions for each defined stationary object On any machine where Blue Spider is installed a Blue Spider DataCache LocalNavShip sdf b Blue Spider DataCache MobileObjects and StationaryObjects folders as above In simple terms when a ship definition file is edited or created the SDF file is updated on the Master Server system The file then replicates to the Slave Blue Spider system All instances of Blue Spider notice a change has been made and request the changed data from BSPEngine The local copy is then updated Page 31 2 1 1 Info Tab On the older built in editor this is labelled as the General tab The built in editor is no longer documented and there are significant differences Users continuing to use the built in editor do so at their own risk 2 1 1 1 Name Vessel Name This needs to be unique to other vessels working in the area The vessel name is used by the Barge Management system 2 1 1 2 MMSI Number This is used to hide the vessels own AIS image 2 1 1 3 Keel Height Keel to CRP This is the measured distance from the bottom of the keel to the CRP height The height of the CRP must have been determined prior to entering this value The measurement is used in the calculation of sea level from GPS height Most of the DP systems use Keel as the vertical reference datum therefore it is likely that Blue Spider
193. ived in the raw message the X value will log the actual received easting value and is therefore NOT vessel relative See Beacon ID sk Page 246 A 6 1 41 Beacon Y Real Number Default caption in log files Beacon Y Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE SCAN_NOLOG The raw Y value received from the last HPR or RTT message This variable is intended to be used in the special HPR CSV log file Note If you attempt to use it in a conventional CSV log you will probably loose data as Normal log files are written at a different rate When the data is written to a HPR log file it is written to the moment any HPR or RTT data arrives For HPR or RTT data where an easting northing position e g UTM is received in the raw message the Y value will log the actual received northing value and is therefore NOT vessel relative See Beacon ID See Beacon ID A 6 1 42 Beacon Z Real Number Default caption in log files Beacon dz Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE SCAN_NOLOG The raw Z value received from the last HPR or RTT message This variable is intended to be used in the special HPR CSV log file Note If you attempt to use it in a conventional CSV log you will probably loose data as Normal log files are written at a different rate When the data is written to a HPR log file it is written to the moment any HPR or RTT data arri
194. l 2 1 2 1 Types of Offsets offset Used for any SP being tracked psa Defines GPS system 1 eps2 Defines GPS System 2 eps2 Defines GPS System 3 HPR ONLY when offsets are not applied by the HPR EchoSounder Defines Echo Sounder in use for ship definitions only Depth Sensor Defines a pressure sensor offset mobile objects only Beacon Defines a beacon offset offset mobile objects only 2 1 2 2 Pitch and Roll The pitch and roll is not included on this table The position of the motion sensor is generally close to the vessels CRP and close to the waterline Page 35 Pitch and roll information is used in conjunction with the GPS and gyro data to calculate lever arm movements Correct offsets and more importantly sense Invert Pitch Roll are critical when working to high levels of accuracy cm Pitch and Roll corrections are entered into the system in the Naverv ini file in the RP Section RPO1 InvertRoll InvertPitch PitchOffset RollOffset 15 Calibration 30 den 2012 263 Calilorariom 30 dan 2012 Ce Eee Ne RPO2 InvertRoll InvertPitch PitchOffset RollOffset 00 10 Lee D ee TO ae Te See A 3 1 9 RPO1 RPO3 p 182 2 1 3 Outline Tab The vessel outline made up of points around the ship which form the outline All vessels mobiles and stationary objects should have an outline even if it is only a crude approximation R
195. l name It is a required field but it has limited uses and is not used for naming the files A 3 1 15 2 Type This key identifies the type of log file must be set to a one of the following values e Normal Normal logs are all written at the same interval The interval for normal logs is entered in the logging configuration dialog You can specify the interval as a time and or distance moved by SP1 2 or 3 All normal logs are written simultaneously Writes to standard logs are also triggered by fixing or NavSlack events and when this happens the event log s will also be written at the same time Whenever the normal logs are written to the variable Logging FixNumber is incremented For writes triggered by a NavSlack event the Logging EventNumber is also incremented You define the fields of a normal log in the LogFileN section You cannot specify individual rates or triggers for normal logs RatelnSeconds does not apply Page 200 e Standard Standard logs are written at a periodic interval such as once a second You define the fields of a standard log in the LogFileN section Each standard logs can be written at a different rate Logging FixNumber is NOT incremented when writing to standard logs e Message Message logs are typically written when triggered to write by the arrival of an incoming message The fields are defined in the same way as for standard logs e Output Output logs are like custom outputs and can theref
196. l visble A cRP 0 000 0 000 0 000 s1 GPS1 Antenna 2620 15 240 28 000 s2 GPS2 Antenna 5 210 _ 15 260 27 97 s3 GPS3 Antenna 11 800 _ 14 000 Echo Sounder 1 Echo Sounder Stern 0 000 Echo Sounder 2 Echo Sounder Bow _ 0 000 Offset Pitch and Roll Sensor _ 0 000 HPR HPR pole 0 000 Offset Port aft Anchor 13 700 57 500 0 000 Offset Port Mid Anchor 15 700 20 200 0 000 Offset Port Fwd Anchor 15 700 0 700 0 000 offset Bow Anchor 5 000 57 500 0 000 Offset Stbd Fwd Anchor 15 700_ 40 700 0 000 o Offset Stbd Mid Anchor 15 700 20 200 0 000 o Offset Stbd Aft Anchor 13 700 52500 0 000 Offset steen sheave 0 000 57000 5 000 Offset significant point 0 000 0 000 0 000 G DWT 9 ik ikikikiki ii i ii amp 1 3DFies Alignment Display Anchors Outline Ref Points Ok Apply g a It is essential that equipment used to measure positional information is defined by the Type in this table as well as entering the X Y and Z information for each offset An exception to this rule applies if the HPR offsets are applied in the HPR Usually the case When the HPR pole offsets are applied in the HPR the Type in Blue Spider must be set to Offset or the offsets in Blue Spider set to zero or else the offsets would be applied twice Page 34 The first option is favourable since it is convenient to see where the HPR pole offset is on the vesse
197. lags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE The route DOL value of SP2 This is the perpendicular distance from route line On the outer corner of an alter course it is the distance from the corner in which case the KP value will be the KP of the corner Alter course radii are ignored by this calculation sk Page 321 A 6 1 322 SP2 Route Grid DOL Real Number Default caption in log files SP2 GRID DOL Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE SCAN_NOLOG LOG_VALUE The route GRID DOL value of SP2 This is the perpendicular distance from route line On the outer corner of an alter course it is the distance from the corner in which case the KP value will be the KP of the corner Alter course radii are ignored by this calculation A 6 1 323 SP2 Route Grid KP Real Number Default caption in log files SP2 GRID kp Default format specifier 3f Attribute flags TYPE_DOUBLE TYPE2_KP UNIT_DISTANCE UNIT2_KM LOG_VALUE SCAN_NOLOG The route GRID KP value of SP2 This is the straight line distance along the route If no route is active this variable value is undefined NAN blank Alter course radii are ignored by this calculation A 6 1 324 SP2 Route KP Real Number Default caption in log files SP2 kp Default format specifier 3f Attribute flags TYPE_DOUBLE TYPE2_KP UNIT_DISTANCE UNIT2_KM LOG_VALUE SCAN_NOLOG The route KP value of SP2 This i
198. ld Geodetic System defines a reference frame for the earth for use in geodesy and navigation The latest revision is WGS 84 dating from 1984 last revised in 2004 which will be valid up to about 2010 A unified World Geodetic System became essential in the 1950s for several reasons International space science and the beginning of astronautics The lack of inter continental geodetic information The inability of the large geodetic systems such as European Datum ED50 North American Datum NAD and Tokyo Datum TD to provide a worldwide geo data basis NAVSYSTEMS k Blue Spider User Manual Jun 2013 SS Page 405 Need for global maps for navigation aviation and geography NAVSYSTEMS k Blue Spider User Manual Jun 2013 Ss Page 406 C 1 1 2 EGM96 Earth Gravitational Model 1996 The NASA Goddard Space Flight Centre GSFC the National Imagery and Mapping Agency NIMA and the Ohio State University OSU have collaborated to develop an improved spherical harmonic model of the Earth s gravitational potential to degree 360 The new model Earth Gravitational Model 1996 EGM96 incorporates improved surface gravity data altimeter derived anomalies from ERS 1 and from the GEOSAT Geodetic Mission GM extensive satellite tracking data including new data from Satellite laser ranging SLR the Global Positioning System GPS NASA s Tracking and Data Relay Satellite System TDRSS the French DORIS system a
199. lect Track Properties 3 1 7 1 Route Track Properties Track properties allow Modifying colour and thickness of the route Modifying symbol colours and size Curve radius options Visibility of circles used to create the curves GOOOO Option for all the curves to be the same or individual Page 111 3 1 8 Creating Routes from Points In this simple example EE ei e Target button is to TRE create 10 points on the fet screen This is made At position easier by selecting the Click to define point on screen option to Keep the Latitude dialog box open _ DD Using the Click to Easting define point on screen Northing and the Enter buttons it is easy to create a series of points on the pee plan view a E E Enter Enter amp Make Active Target The target names will increment as the points are created A Roue ines Points Tagets Q Manual Fines fl Survey Pien 54 39 27628N 000 48 17547 Ww 25469484 54 3930290 N 000 48 10499 Ww 25477325 Page 112 3 1 9 Creating Individual Radius Curves When the curves are configured individully then the radius is configured in the Route Lines Points and Targets page F Use Radius A C Import Route Export Route 0 000 0 512 1 200 Note the difference in KP and the Radius Column below CS CE 0 000 a c 0 000 a c2 0 512 0 512 300 00 a c3 1 201 1 200 300 00 a c 4 1 760 1 75
200. les Ship Speed Default format specifier 4f Attribute flags TYPE_DOUBLE UNIT_SPEED UNIT2_KM_H SCAN_SLOWLOG LOG_VALUE The smoothed ship speed in kilometres per hour A 6 1 246 Ship SpeedKmh Real Number Default caption in log files Ship Speed km h Default format specifier 4f Page 300 Attribute flags TYPE_DOUBLE UNIT_SPEED UNIT2_KM_H SCAN_ALIAS LOG_VALUE The ship speed in kilometres per hour Alias for Ship Speed A 6 1 247 Ship SpeedMS Real Number Default caption in log files Ship Speed m s Default format specifier 4f Attribute flags TYPE_DOUBLE UNIT_SPEED SCAN_UNIT_ALIAS LOG_VALUE Old style name ShipSpeedMS The smoothed ship speed in metres per second A 6 1 248 Ship VDatumShift Real Number Default caption in log files Ship Vert Datum Shift Default format specifier 2f Attribute flags TYPE_DOUBLE UNIT_DISTANCE SCAN_SLOWLOG The vertical datum shift to convert from the WGS84 geoid altitude to your selected vertical reference The value given by this variable is valid only for the positions very close to the ship it is computed for the CRP The vertical shift required will typically depend on position If you need to add an additional fixed amount to this then DO NOT use y ern VBa A vp a y defineda amot variable and add IMPORTANT NOTE System VDatumShift has now been DEPRECATED Although still supported it will cause an alarm to be raised
201. log file itself For Type Normal the rate is fixed and writes only occur at the normal logging rate Neither Trigger nor RatelnSeconds can be specified See A 3 1 15 2 Type p 199 Page 205 A 3 2 How to Decode Fields The INI file field decoder works in the same way for almost all the sections The variable is parsed using 3 numbers Field a b c where Field will hold the extracted data ALL a is the field count number where fields are delimited b is the first character within a field for the data extract cy c is the number of characters to be extracted If b and c are both zero then a is used as a field number and the position is calculated by counting delimiters For further detailed information see A 3 1 3 6 Field specifiers p 169 Page 206 A 4 Machine acl INI This file contains the address and permissions of computers that are allowed to See latitude and longitude positions on the screen Modify geodetic settings Record anchor handling operations For all of these options 0 Disabled 1 Enabled These options work in conjunction with the BSPEngine INI file System section Example Machine acl INI OPS1 AllowPositionDisplay 1 AllowCoordSysChanges AllowAnchorHandling 1 ll Testroom AllowPositionDisplay AllowCoordSysChanges IR Page 207 A 5 Communications Device Names Device Purpo
202. longitude Grid position of SP3 easting Grid position of SP3 northing Variable Name SP3 GridHeading SP3 Heading SP3 LaybackBearing SP3 LaybackDistance SP3 LaybackMode SP3 Motion Pitch SP3 Motion Roll SP3 Name SP3 Offset Pos Name SP3 Offset SP Name SP3 Offsets Grid1 Easting SP3 Offsets Grid1 Northing SP3 Offsets Pos1 Alt SP3 Offsets Pos1 Elev SP3 Offsets Pos1 Lat SP3 0ffsets Pos1 Lon Page 231 Description Grid heading based on delta easting northing and not a true direction True heading for SP3 Layback bearing of SP3 from the Ship LaybackPoint Layback distance of SP3 from the Ship LaybackPoint Positioning mode of the vehicle which is currently SP3 Pitch of SP3 in degrees as obtained from a motion sensor Roll of SP3 in degrees as obtained from a motion sensor Name of the vehicle or vessel offset which is currently SP3 Name of the vehicle offset which is the positioning offset for SP3 blank if a vessel offset is used Name of the vehicle offset which is the steer point offset for SP3 blank if a vessel offset is used These variables are available for the first 8 offsets Position easting of SP3 offset 1 Position northing of SP3 offset 1 These variables are available for the first 16 offsets Position altitude of SP3 mobile or ship offset 1 Elevation from seabed to mobile vessel offset Position latitude of SP3 mobile or ship
203. longitude The position given here is in your selected working datum which is not necessarily WGS84 A 6 1 239 Ship SP1 Route Arc DOL Real Number Default caption in log files SP1 Route Arc DOL Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE SCAN_NOLOG The route arc DOL value of SP1 This is the perpendicular distance from route line On the outer corner of an alter course it is the distance from the corner arc Alter course radii if present are used in this calculation Sk Page 298 A 6 1 240 Ship SP1 Route Arc KP Real Number Default caption in log files SP1 Route Arc Kp Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE UNIT2_KM LOG_VALUE SCAN_NOLOG The route arc KP value of SP1 This is the straight line distance along the route If no route is active this variable value is undefined NAN blank Alter course radii if present are used in this calculation A 6 1 241 Ship SP1 Route DOL Real Number Default caption in log files SP1 Route DCC Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE SCAN_NOLOG The route DOL value of SP1 This is the perpendicular distance from route line On the outer corner of an alter course it is the distance from the corner in which case the KP value will be the KP of the corner Alter course radii are ignored by this calculation A 6 1 242 Ship SP1
204. lower tides may occur in practice due to other factors e g meteorological effects such as high pressure systems NAVSYSTEMS k Blue Spider User Manual Jun 2013 Ss Page 410 C 1 1 5 TAW Belgian national tidal reference The Belgian national tidal reference is a reference for height measurements in Belgium and refers to height indications above sea level All height values in the measurements of the waterways and their valleys and all stages are expressed in accordance with this reference system The use of this reference system is indicated by the notation m TAW C 1 1 6 GEBCO Gridded bathymetry data The GEBCO data is a terrestrial map of the ocean floor Its accuracy varies according to location GEBCO provides global bathymetry data sets for the world s oceans The GEBCO_08 Grid a global 30 arc second grid largely generated by combining quality controlled ship depth soundings with interpolation between sounding points guided by satellite derived gravity data However in areas where they improve on the existing GEBCO_08 grid data sets generated by other methods have been included The GEBCO One Minute Grid a global one arc minute grid released 2003 updated 2008 largely based on the most recent set of bathymetric contours contained within the GEBCO Digital Atlas C 1 1 7 MSL Mean Sea Level NAVSYSTEMS k Blue Spider User Manual Jun 2013 Ss Page 411 Mean Sea Level is usually defined as being the
205. meter InputChannel6 Messagel Field1 10 0 persistent default 101 325 format 4f atens Junis kEau p KA note above should all be on a single line To instead configure the barometer as a manual input the following should instead be added to the Variables section Ship Barometer _INPUT persistent default 101 325 format 4f att rS AUNES PAU KPA note above should all be on a single line Page 425 Regardless of whether the barometer is configured as a custom or manual input it is also necessary to define the following variable by adding the line below to the CustomLogVariables section Value to be added to subsea pressure based depth measurements based on barometer reading Standard atmospheric pressure is 101 325 kPA Pressure increases with water depth at 11 14575 kea m Ship BarometricDepthAdjustment 101 325 Ship Barometre rc Wil Wag7s itor ue 21 attrs units metres note above should all be on a single line C 3 4 Draft To define the ship draft as an input variable add the following to the Variables section of BSPEngine INl Ship Draft ENE UE persistent default 0 attrs units metres format 2f C 3 5 Echo Sounder The ships echo sounder position should be defined as a vessel offset using the vessel definition editor The type for this offset should be set to Echo Sounder and the XYZ position determined accurately The older sk
206. n will appear to add the bone information file You can then open the bone editor which is built in to SdfEdit sk Fle Edit View Tools Help Jord B elon h Files EY a x 8 Port Lower Ram mesh 5 Port Top Ram mesh B Starboard Lower Ram mesh 2 Starboard Top Ram mesh Fi CableEnterprise png Cable Enterprise skeleton gt 30Files Alignment Display Anchors Outline Ref Points The information button displays summary information for each file Depending on the file type different options are offered For a skeleton file if there is no bone information file also present then an option to create one is provided D 1 1 Bone editor When creating the bone information the bone editor will be automatically displayed Once this is done the link in the information box changes to Edit bone information You can open the bone editor by using this link The bone editor displays the hierarchical bone structure ina tree view There will be at least one root bone and these are normally fixed in position Bones connected to the root bone s are shown as child nodes in the tree view The tree effectively shows how the bones are connected In reality the bone structure may be more complex But Ogre skeleton files NAVSYSTEMS k Blue Spider User Manual Jun 2013 S Page 432 can only arrange bones in a simple hierarchical set of one or more trees Bone Editor O translate x
207. n order to stay on the active route line ID of the beacon from which a position was last received Latitude value received from the last HPR or RTT message Longitude value received from the last HPR or RTT message Raw X value received from the last HPR or RTT message Raw Y value received from the last HPR or RTT message Raw Z value received from the last HPR or RTT message Cable length in kilometres for the AUX2 cable channel cable operations Sk Variable Name Cable AUX1 SlackFromSecti onStart Cable AUX1 Smoothed Slack Cable AUX1 Smoothed Spee d Cable AUX1 Smoothed Tens ion Cable AUX1 Speed Cable AUX1 Tension Cable AUX2 Length Cable AUX2 SlackFromSecti onStart Cable AUX2 Smoothed Slack Cable AUX2 Smoothed Spee d Cable AUX2 Smoothed Tens ion Cable AUX2 Speed Cable AUX2 Tension Cable ControlSpeed Cable DistanceDeviation Cable Engine1 CableOut Page 214 Description Smoothed slack percentage from section start for AUX1 cable channel cable operations For cable operations Cable speed in km h for the AUX1 cable channel cable operations Cable tension in kN for the AUX1 cable channel cable operations Raw cable speed in km h for the aux1 cable channel cable operations Raw cable tension in kN for the AUX1 cable channel cable operations Cable length in kilometres for the AUX2 cable channel cable operations Smoothed
208. n see A 3 1 1 System p 157 also A 4 Machine acl INI p 206 4 2 3 2 Routes By default routes are not synchronised with remote vessels this is because the route database files can become quite large Use the Routes Send to Remote vessels to send routes to all remote vessels 4 2 3 3 AIS A feature exists where if the connection to the remote vessel is dropped then the vessel shape can be used by the AIS position instead The AIS must be interfaced to the Barge Server for this to function 4 2 3 4 Restricting permissions Permissions can be restricted to individual workstations so as to only allow anchor operations to be carried out from specific machines For more information see A 3 1 1 System p 157 also A 4 Machine acl INI p 206 Page 127 4 2 3 5 Dropping own anchors As well as the ability to request a tug to drop and recover anchors a barge can also drop and recover its own anchors Page 128 4 3 Barge Management System Operation 4 3 1 Introduction The Barge Management System uses a wireless network between barge and anchor handling vessels to allow passing of anchor targets from Barge to Tug and Anchor laid recovered positions from Tug to barge When more than one tug is assisting the Barge Master has full control over which anchor is assigned to which Tug Anchor positions are logged at three different stages e Planned Deployment Position e Actual Deployment Position e Actual Recovered Position
209. n the INI file All variable objects defined in the INI file are actually somewhat more heavyweight than regular Javascript variables You can of course define constants in the INI file but these are really just regular BSPEngine variables that happen to be defined with a fixed value A 10 2 Defining your own functions You can define your own functions taking arguments as regular Javascript functions and call them from expressions in the INI file All expressions in the INI file have to fit on one line but functions in a js file are not subject to this restriction If you need to write special functions which require conditional logic then writing them in Javascript is highly recommended Page 384 A 10 3 Updating variables conditionally In the INI file you can define one variable as being the result of operations on another but its unconditional Suppose you are receiving a message which contains a value and an item identifier For example the item identifier is a tank number and the value is the fluid level in the tank You have 4 tanks and you want to record the level in each You cannot do this directly in the INI file Lets say that we decode the incoming message it doesn t matter what this mystery message looks like and we have the required data in InputChannel1 Message1 Field1 and Field2 Field1 is the level value Field2 is the tank number To split this data out into 4 tank level variables we first declare the tank lev
210. n the intended and actual drop position The Y difference in grid position between the intended and actual drop position Actual grid position easting at which the anchor was dropped Actual grid position northing at which the anchor was dropped Actual position latitude at which the anchor was dropped sk Variable Name AHT Drop Pos Lon AHT Grid Easting AHT Grid Northing AHT Pickup DeltaM X AHT Pickup DeltaM Y AHT Pickup GDelta X AHT Pickup GDelta Y AHT Pickup Grid Easting AHT Pickup Grid Northing AHT Pickup Pos Lat AHT Pickup Pos Lon AHT Pos Lat AHT Pos Lon AHT Requestor AHT Target Grid Easting AHT Target Grid Northing Page 212 Description Actual position longitude at which the anchor was dropped Last grid position easting at which an anchor was either dropped or recovered Last grid position northing at which an anchor was either dropped or recovered True X difference in position between the the drop position and recovery position in metres True Y difference in position between the the drop position and recovery position in metres X difference in grid position between the drop position and recovery position Y difference in grid position between the drop position and recovery position Actual grid position easting from which the anchor was recovered Actual grid position northing from which the anchor was recovered Actual positi
211. n using 3D Terrain NAVSYSTEMS k Blue Spider User Manual Jun 2013 SS Page 105 The user is given options to specify Maximum deviation from bathymetry Sampling step size 3 1 5 1 Maximum deviation from bathymetry This relates to how far off the route line we are prepared to accept to achieve good data The bathy data is saved as a series of points in a PTS or an XYZ file These are normally in a very simple format Easting Northing Depth It is unlikely that any of these points will exactly match the points on the route line so some deviation has to be acceptable especially if there is not a lot of good quality bathy data 3 1 5 2 Sampling Step Size This tells Blue Spider how often along the route to look for depth data If there is a large amount of good quality terrain data say from a multibeam survey then this option should be used with consideration to the total length of the route Sampling data at very close intervals will create a potentially massive route database with depth file which could lead to online problems if the file becomes to large Page 106 In summary the smaller the deviation and the step size the more bathy points there will be in the route file It is advisable to keep this to a sensible scale depending on the nature of the work being carried out It is unlikely for example that there would be a requirement for a depth reading every 10cm along the route Create Line With Dept
212. nd the US Navy TRANET Doppler tracking system as well as direct altimeter ranges from TOPEX POSEIDON T P ERS 1 and GEOSAT The model was used to compute geoid undulations accurate to better than one meter with the exception of areas void of dense and accurate surface gravity data and relaize WGS84 as a true three dimensional reference system Additional results from the EGM96 solution include models of the dynamic ocean topography to degree 20 from T P and ERS 1 together and GEOSAT separately and improved orbit determination for Earth orbiting satellites NAVSYSTEMS k Blue Spider User Manual Jun 2013 Ss Page 407 C 1 1 3 ETRS89 Terrestrial Reference System 1989 Most people who are familiar with GPS have heard of the WGS84 World Geodetic System 1984 coordinate system This is a global coordinate system designed for use anywhere in the world WGS84 coordinates are usually expressed as latitude longitude and ellipsoid height WGS84 was designed for navigation applications where the required accuracy is one metre or lower A high accuracy version of WGS84 known as ITRS International Terrestrial Reference System has been created in a number of versions since 1989 and this is suitable for international high accuracy applications it is used mostly by geoscientists However there is a problem with trying to use a global coordinate system for land surveying in a particular country or region The problem is that the co
213. ng Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_ANGLE UNIT2_DEGREES LOG_VALUE Vessel heading from the primary gyro possibly adjusted with a fixed calibration offset A 6 1 211 Ship Kalman CMG Real Number Default caption in log files Ship Kalman CMG Default format specifier 4f Attribute flags TYPE_DOUBLE UNIT_ANGLE UNIT2_DEGREES SCAN_SLOWLOG LOG_VALUE The smoothed ship speed in kilometres per hour calculated using Kalman filter A 6 1 212 Ship Kalman Pos Lat Real Number Default caption in log files Ship Kalman Latitude Attribute flags TYPE_DOUBLE TYPE2_LAT UNIT_ANGLE LOG_VALUE The smoothed postion of the ship as calculated by the Kalman filter A 6 1 213 Ship Kalman Pos Lon Page 291 Real Number Default caption in log files Ship Kalman Longitude Attribute flags TYPE_DOUBLE TYPE2_LON UNIT_ANGLE LOG_VALUE The smoothed postion of the ship as calculated by the Kalman filter A 6 1 214 Ship Kalman Speed Real Number Default caption in log files Ship Kalman Speed Default format specifier 4f Attribute flags TYPE_DOUBLE UNIT_SPEED UNIT2_KM_H SCAN_SLOWLOG LOG_VALUE The smoothed ship speed in kilometres per hour calculated using Kalman filter A 6 1 215 Ship KeelHeight Real Number Default caption in log files Ship Keel Height Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE SCAN_N
214. ng Variables to use in Blue Spider This section covers how to decode strings The next section will show how to create and assign variables 2 13 1 1 String Formats Most data is presented as csv comma separated variables and has a header SHEADER Data1 Data2 Data3 Data4 MsgName is used to detect the header using the code Use FieldType to specify a length for the header Default 0 can also be used to read the whole field MsgType 1 0 7 1 field Read 7 Chars SHEADER 1234567 Because this string is comma separated the middle decode 0 is not used Field1 2 0 0 2 field read all chars Data1 Field2 3 0 0 3 field read all chars Data2 Page 92 In this example the string does not contain and comma separators but the data arrives in fixed size blocks HEADERData1Data2Data3Data4 123456789012345678901234567 We can decode this as follows MsgType 1 1 6 Start Field1 Char1 6 Chars of data Field1 1 7 5 Start Field1 Char7 5 Chars of data Field2 1 12 5 Start Field1 Char12 5 Chars of data If we don t need to use the header there is no need to decode it However if there is more than one message on a port then it would be necessary to decode the headers to BSPEngine can distinguish the messages For example a GPS receiver could output 3 messages SGPGGA SGPVTG and SGPZDA After decoding or parsing either of the above examples then the data in the string is available as Fields to
215. ng containing spaces between digits or sign or containing comma s can be converted to a well formed number using this function Parameters x String Page 373 Return Value Returns the number or blank if not a valid number A 8 2 Special functions Special functions can typically only be to variable objects defined in the INI file A 8 2 1 timestampOf var Obtains the timestamp for a given variable Parameters var Variable Return Value Timestamp real number Windows FILETIME value converted to seconds A 8 2 2 historyOf var Obtains the history object for a given variable Parameters var Variable Return Value History Object Page 374 See Variable History Objects A 8 2 3 flagsOf var Obtains the type code flags for a given variable Parameters var Variable Return Value Long A 8 2 4 variableUpdated var Determines if the specified variable has been updated during the current execution loop of BSPEngine This function is intended to be used in scripts that conditionally update variables dependant on the value of at least one other variable Parameters var Variable Return Value Boolean True if the variable in question has been updated Sk Page 375 NAVSYSTEMS k Blue Spider User Manual Jun 2013 SS Page 376 A 8 2 5 freq hist Frequency counter freq var_history min_period_hz min magnitude crossing Example Ship RollFrequency freq history
216. nnel can be configured for radio_master used for radio modem connection to remote vessels radio_slave used for radio modem connection to remote vessels remote_hpr used for taking in HPR data from a remote vessel grid_input for positioning where the position is supplied as easting northing pos_input general purpose positioning input multi_pos_input multiple target positioning similar to HPR Page 184 The RTT channels are each configured using a section in the INI file e g Rew ONE Mode radio master Each RTT channel that is configured must have the Mode set to one of the modes listed above A 3 1 10 1 radio_master radio_slave This mode is used to provide a communication channel between vessels typically for barge management The barge has a radio modem for each tug and this is typically set to radio_master on the barge and radio_slave on the tug It does not matter which RTT channel is used e g Barge INI RTT 05 Mode radio master Tug INI RTT 01 Mode radio slave Is fine as long as RTT chanel 5 on the barge is connected to a modem that uses the same frequency as the radio modem on the tug Page 185 connected to its RTT channel 1 The only important rule is that every radio_master is connected to a single radio_slave It is a point to point connection A 3 1 10 2 remote_hpr This rather unusual mode of configuration is rarely used Essentially what it does is takes in HPR data
217. nsfer all the communication port settings from one server to the other Ensure that the correct direction is about to be used If Box A is Slave and Box B is Master then the top button will transfer all the OPS2 settings to OPS1 If you have fully configured OPS1 and were intending to transfer all the settings to OPS2 then you will be most displeased if this was the wrong way around OPS is the computer name and OPS1 can be Master or Slave OPS2 is the computer name and OPS2 can be Master or Slave Settings are only generally transferred if the communications ports are on another computer not OPS1 or OPS2 This is because OPS1 and OPS2 need to both be able to work in the event of a total power failure on a server For this reason the ports are generally configured as below OPS1 OPS2 GPS1 OPS1 COM3 OPS2 COM3 GPS2 OPS1 COM4 OPS2 COM4 un NE _GPS3 OPSI COMS OPS2 COMS Cable PortEng COM7 PortEng COM7 Engine Because the cable engine is on a remote PC not OPS1 or OPS2 it is common to both servers Sk Page 68 2 3 5 2 Copy INI When changes are made and saved to the BSPEngine ini file BSPEngine detects that the file on Box A is now different to the file on Box B An alarm is raised showing that there is a difference between the two files The Copy INI button copies the BSPEngine ini files either from Ato B or Bto A Therefore if changes have been made on Box A and they did work click on A gt B In
218. ntinents are constantly in motion with respect to each other at rates of up to 12 centimetres per year There are in reality no fixed points on Earth In common with the rest of Europe Great Britain is in motion with respect to the WGS84 coordinate system at a rate of about 2 5 centimetres per year Over a decade the WGS84 coordinates of any survey station in Britain change by a quarter of a metre due to this effect which is unacceptable for precise survey purposes For this reason the European Terrestrial Reference System 1989 ETRS89 is used as the standard precise GPS coordinate system throughout Europe ETRS89 is based on ITRS the NAVSYSTEMS k Blue Spider User Manual Jun 2013 Ss Page 408 precise version of WGS84 except that it is tied to the European continent and hence it is steadily moving away from the WGS84 coordinate system In 2000 the difference between the ITRS precise WGS84 coordinates of a point and the ETRS89 coordinates is about 25cm and increasing by about 2 5 cm per year The relationship between ITRS and ETRS89 is precisely defined at any point in time by a simple transformation published by the International Earth Rotation Service The ETRS89 coordinate reference system is used as a standard for precise GPS surveying throughout Europe Using ETRS89 you can ignore the effects of continental motion to a high degree of accuracy the ETRS89 coordinates of a survey station stay fixed as long as there is
219. of satellites ground stations in view to the GPS receiver Primary GPS PDOP primary dilution of precision as received from the primary GPS receiver Grid position of SP1 easting Grid position of SP1 northing Variable Name SP1 KP SP1 Offset Name SP1 Pos Alt SP1 Pos Lat SP1 Pos Lon SP1 Route DOL SP1 Route Grid DOL SP1 Route Grid KP SP1 Route KP SP1 Route SeabedSlope SP1 Route Section Bearing SP1 Route Target Bearing SP1 Route Target Range SP1 Route TerrainDist SP1 Route WaterDepth SP1 Smoothed CMG SP1 Speed SP1 SpeedKmh SP1 Target1 Bearing Page 227 Description Route KP value of SP1 Name of the vessel offset which is currently SP1 Altitude position of SP1 Alias for Ship SP1 Pos Alt Geodetic position of SP1 latitude Geodetic position of SP1 longitude Route DOL value of SP1 Route GRID DOL value of SP1 This is the perpendicular distance from route line On the outer corner of an alter course it is the distance from the corner in which case the KP value will be the KP of the corner Alter course radii are ignored by this calculation Route GRID KP value of SP1 Route KP value of SP1 Route KP as surveyed seabed slope value under SP1 True bearing of the current route section True bearing in degrees from SP1 to the current target Range in metres from SP1 to the current target Route terrain distance value of SP1 Route KP as surveyed water depth value SP1 Smoo
220. of the file If KMSTRLIB transformations are required in addition then this is marked by adding a special string to the extended description field This is always the last but one field To use KMSTRLIB the extended description field must begin with KS followed by the target KMSTRLIB datum name There are a number supported by KMSTRLIB but the following example shows the required configuration to use DVR90 with EUREF89 In the following extract from geocalc dat two EUREF89 datums are defined The first is without the DVR90 correction and the second with the correction applied The string KS dvr90 tells Blue Spider to use the KMSTRLIB DLL to apply a height correction to transform to the DVR90 vertical reference Datums EUREF89 EUREF 1989 MOLODENSKY WGS84 0 0 0 0 6326 EUREF89 DVR90 EUREF 1989 DVR90 MOLODENSKY WGS84 0 0 0 0 KS dvr90 6326 You will probably already have these special datums defined in your INI file However a much simpler type of local vertical datum shift can be defined sk Page 428 For instance a local vertical datum which has the name GYM and WGS84 GYM WGS 1984 GYM MOLODENSKY WGS84 0 0 0 0 VShift 49 VRef lt ODN gt 6326 C 4 1 Vshift This specifies an additional constant vertical shift Ideal for defining a local vertical datum shift C 4 2 Vref lt Name gt This gives the vertical reference a name Optional but highly recommended as this name will
221. og files AUX 2 Cable Speed Default format specifier 2f Attribute flags TYPE_DOUBLE UNIT_SPEED UNIT2_KM_H LOG_VALUE Cable speed in km h for the AUX2 cable channel cable operations A 6 1 54 Cable AUX2 Smoothed Tension Real Number Default caption in log files AUX 2 Cable Tension Default format specifier 1f Attribute flags TYPE_DOUBLE LOG_VALUE Cable tension in kN for the AUX2 cable channel cable operations A 6 1 55 Cable AUX2 Speed Real Number Default caption in log files Raw Aux2 Cable Speed Default format specifier 2f Attribute flags TYPE_DOUBLE UNIT_SPEED UNIT2_KM_H LOG_VALUE Raw cable speed in km h for the aux2 cable channel cable operations A 6 1 56 Cable AUX2 Tension Page 250 Real Number Default caption in log files Raw AUX 2 Cable Tension Default format specifier 1f Attribute flags TYPE_DOUBLE LOG_VALUE Raw cable tension in kN for the AUX2 cable channel cable operations A 6 1 57 Cable ControlSpeed Real Number Default caption in log files Target Cable Speed Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_SPEED SCAN_SLOWLOG LOG_VALUE The speed in m s being automatically demanded on systems with automatic cable control For cable operations A 6 1 58 Cable DistanceDeviation Real Number Default caption in log files Distance Deviation Default format specifier 3f Attribute flags TYPE_DO
222. on latitude from which the anchor was recovered Actual position longitude from which the anchor was recovered Last position latitude at which an anchor was either dropped or recovered Last position longitude at which an anchor was either dropped or recovered Name of the barge or tug requesting an anchor action Target drop grid position easting for the anchor deployment Target drop grid position northing for the anchor deployment Sk Variable Name AHT Target Pos Lat AHT Target Pos Lon AHT Tug Name Alert Description AutoPilot Direction AutoPilot ReversedDirectio n AutoPilot SP2 Direction AutoPilot SP2 ReversedDire ction Beacon ID Beacon Pos Lat Beacon Pos Lon Beacon X Beacon Y Beacon Z Cable AUX1 Length Page 213 Description Target drop position latitude for the anchor deployment Target drop position longitude for the anchor deployment Name of the tug being referred to in the anchor request Last recorded system alert string Direction L or R that an autopilot should steer in order to stay on the active route line Direction L or R that an autopilot should steer in order to stay on the active route line if the vessel needs to move in reverse Direction L or R that an autopilot steering SP2 should steer in order to stay on the active route line Direction L or R that an autopilot steering SP2 should steer i
223. on in log files Date Attribute flags TYPE_STRING TYPE2_DATE ASSOC_NEXT SCAN_NOLOG The system date in DD MM YYYY format See also System Time A 6 1 401 System DBR CablesRevision String Default caption in log files Clara Cable Database Revision Attribute flags TYPE_STRING SCAN_SLOWLOG The Clara database revision This is a GUID value that changes whenever the cable database is updated A 6 1 402 System DBR FixfilesRevision String Default caption in log files Ancilliary Fixfiles Database Revision Attribute flags TYPE_STRING SCAN_SLOWLOG The overall revision of all project fix xml tree layout files BUT NOT the associated state data files contents of the FixLayouts folder but just the xml files This is a GUID value that changes whenever the any of these files are updated sk Page 343 A 6 1 403 System DBR FixfullRevision String Default caption in log files Ancilliary Fixfull Database Revision Attribute flags TYPE_STRING SCAN_SLOWLOG The overall revision of all project fix xml tree layout files and associated state data files contents of the FixLayouts folder This is a GUID value that changes whenever the any of these files are updated A 6 1 404 System DBR FixlayoutRevision String Default caption in log files Fixlayout Database Revision Attribute flags TYPE_STRING SCAN_SLOWLOG The fix layout file revision NavFix cfg This is a GUID value that changes whenever
224. on in log files GPS1 CRP Latitude Attribute flags TYPE_DOUBLE TYPE2_LAT UNIT_ANGLE LOG_VALUE SCAN_NOLOG Computed CRP position latitude derived from GPS1 in your working datum A 6 1 104 GPS1 CRP Pos Lon Real Number Default caption in log files GPS1 CRP Longitude Attribute flags TYPE_DOUBLE TYPE2_LAT UNIT_ANGLE LOG_VALUE SCAN_NOLOG Computed CRP position longitude derived from GPS1 in your working datum A 6 1 105 GPS1 CRP WGS84 Pos Alt Real Number Default caption in log files GPS1 CRP Altitude WGS84 Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE SCAN_NOLOG Computed altitude value of CRP derived from GPS1 in WGS84 A 6 1 106 GPS1 CRP WGS84 Pos Lat Real Number Default caption in log files GPS1 CRP Latitude WGS84 Attribute flags TYPE_DOUBLE TYPE2_LAT UNIT_ANGLE LOG_VALUE SCAN_NOLOG Page 263 Computed CRP position latitude derived from GPS1 in WGS84 A 6 1 107 GPS1 CRP WGS84 Pos Lon Real Number Default caption in log files GPS1 CRP Longitude Attribute flags TYPE_DOUBLE TYPE2_LAT UNIT_ANGLE LOG_VALUE SCAN_NOLOG Computed CRP position longitude derived from GPS1 in WGS84 A 6 1 108 GPS1 Date String Default caption in log files GPS1 Date Attribute flags TYPE_STRING TYPE2_DATE ASSOC_NEXT SCAN_NOLOG The time date of GPS1 DD MM YYYY as received from GPS receiver 1 A 6 1 109 GPS1 Da
225. onfiguration BSPEngine INl In this particular case a line has been added to the file that is not recognized Depth1 MsgName SSDDBT MsgType 1 0 6 WaterDepthMetres 4 0 0 ThisKeyIsNotValid 666 Page 79 The 3 warning tells us that we are no longer recieving data from the echo sounder Maybe a cable has become unplugged so we need to check The 4 Warning tells us that we have a variable referenced in an expression in the INI file that does not actually exist We should check the INI file and correct this by either adding the missing variable or by correcting a misspelt name Page 80 2 6 1 Decoding Alarm Colours Alarms are shown in three colours Yellow All alarms and other entries are logged in the Alert Logs The alarm was raised but the reason the alarm appeared has now gone Grey alarms are very common after system start up while the system establishes communications with COM ports They will also appear if remote computers running BSPNet are shutdown or restarted Yellow alarms are Warnings They are important as they need to be dealt with but they are not stopping the system from working They will appear if the geodetics show that the vessel is in the wrong UTM zone or if there are sections in the ini file that are incorrect duplicated or mis typed Yellow alarms will clear if the Alarms are cleared but yellow alarms relating to errors in the ini file WILL NOT REOCCUR until BSPEngine is res
226. onvert numeric value to ASCII character Returns converted value as string containing a single character Parameters n Numeric value in the range 0 to 255 Return Value String with one character A 8 1 12 cos x Compute cosine Returns the cosine of x Parameters x Floating point value Return Value The cosine value of x A 8 1 13 cosh x Compute hyperbolic cosine Returns the hyperbolic cosine of x Parameters x Floating point value Return Value The hyperbolic cosine value of x Page 360 A 8 1 14 deg_offset a b Performs modulo 360 addition to add angle values Parameters a Numeric angle value in the range 0 lt a lt 360 b Value to add can be negative Return Value The resulting angle value A 8 1 15 exp x Compute exponential function Returns the base e exponential function of x which is the e number raised to the power x Parameters x Floating point value Return Value Exponential value of x Page 361 A 8 1 16 floor x Round down value Returns the largest integral value that is not greater than X Parameters x Floating point value Return Value The largest integral value not greater than x A 8 1 17 hexdec s Convert hexadecimal string to integer Parameters s String containing hexadecimal number Return Value Integer value Page 362 A 8 1 18 iif b v1 v2 Conditional evaluation Parameters b Boolean 0 or 1 non zero is considered true th
227. or built in GPS decoder Gyro1 Gyro2 Gyro3 Specifies decoders for built in Gyro decoder Depth1 Depth2 Depth3 Specifies decoders for built in Echo sounder decoder RPO1 RPO2 RP03 Specifies options for the built in motion sensor Page 156 a fe ee Variables Defines additional variables to be available for logging VarHistory Allows history to be recorded for specified variables so that min max average and other statistics can be logged LogFile1 LogFile16 Defines individual log files their types layout names and recording strategy Page 157 A 3 1 INI File Reference A 3 1 1 System The system section of the INI file can be used to set up a variety of global options A 3 1 1 1 DefaultinputTimeout The default input timeout specifies the amount of time for all custom inputs after which if no new message is received for a given input message the input variables will be set to blank You can override the input timeout for individual message formats associated with input channels If no input timeout is specified here or for an individual input then the input data variables will remain valid indefinitely It is often worthwhile specifying a default timeout as most input data has a limited useful lifetime If no data is received on a particular input for a period of time it is usually best to log it as blank e g unknown Page 158 A 3 1 1 2 SpeedSmoothinginterval This is t
228. ords significant configuration events warnings and errors to a set of alert log files The last few alert logs are always retained and older logs are automatically deleted These built in logs require no further configuration You can also set up your own alert log files The alert logs provide a means of checking that the system is working correctly and make it possible to see if there are any configuration errors The latest alert logs will be found in On a 32 bit machine the installation location will typically be C Program Files NavSystems Blue Spider System Logs Alerts On a 64 bit machine the location will typically be C Program Files x86 NavSystems Blue Spider System Logs Alerts Page 153 A 2 Variables BSPEngine works by assigning incoming data to variables and by logging these variables These variables can be created in the INI file and can also be the result of arithmetic or other operations or in fact any valid Javascript expression There are a number of built in variables are variables that are created automatically but you can also create your own variables Variable names use a dotted notation e g Ship WindSpeed Variables can be used in expressions in the INI file such as Ship WindDirection deg offset Ship Heading InputChannel5 Messagel Fieldl deg_offset is a built in function for adding angles in degrees together modulo 360 In this example InputChannel5 Message1 Field1 conta
229. ore also be written at a regular rate or triggered by incoming data However the data written to an output log has no column headings and does not have to be in CSV format An output log can also have multiple messages just like a custom output For an output log the fields making up the data are defined in custom output format s and not in the log file definition itself Logging rates and triggers are ignored and the ones defined for the custom output are used instead Page 201 e Alert Alert logs are exactly the same as the built in alert logs except they are recorded to your chosen location and subject to your own size and time limits You do have to configure the fields for an alert log and you would typically add the variables System Timestamp and Alert Description but you may add additional fields if so desired Alert logs are written to whenever the system records a new alert You cannot specify a RatelnSeconds or a trigger condition e Anchor Anchor logs are written to only as a result of anchor operations and are designed for recording deployment positions and recovery positions of each anchor You have to configure the variables that you wish to log You cannot specify a RatelnSeconds or a trigger condition e HPR HPR logs are designed to record HPR beacon positions A HPR log is written to once for each beacon position received A message or output log can be configured to perform a similar function but can only record the
230. p Completed button If the Drop Completed button is clicked without using the Click to Adjust Position on Screenthen the anchor recovery position is recorded as AHT Steer point 1 position Page 137 The anchor wire will now go green and update the dropped position both on the tugs and the barge Note the anchor buttons are greyed out and no target is selected The anchor line on the barge screen will update and the anchor status will show as dropped Within the anchor log the positions of the planned deployment and actual deployment are recorded 4 3 5 Operation at Barge for Recovery For Anchor recovery the anchor to be recovered is selected at the barge within the Vessel Anchor Handling Status Dialog M Vessel Anchor Handling Status Anchor Vessel Anchor Status Recovery operation Request recovery by pressing the Request Recovery once the relevant anchor has been highlighted At this point you will be presented a confirmation dialog H 7 Are you sure you want to recover anchor 1 Confirmation Dialog Once confirmed the anchor recovery operation will be highlighted on the AHT 4 3 6 Anchor Recovery Operation at Tug sei AgM Q QE Fic 0 R172 2 2 PAIE Tyg 1 HATH Speed 0 16 km h Target Pontra Maris Barge Speed 0 02 km h Go and recover anchor 2 Archor Bopped Tug Display Anchor Recovery Page 139 At the AHT the screen will display a heading line to show the dir
231. pecial files in the System Config Folder 2 4 3 Editing Channel Names Allthe COMS Channel tabs have default names 2 TPFO TNavPortConf 1gL 1st I e TPor tconf 1g GPS1sc apt ion avadl LTPor tconf 1g GPS2 apt 1on Javad LTPor tConf 1g GPS3e lt apt ion R110 TPor tConf 1g GYROLC apt ion Survey_HOG bs i TPor tConf ig GYRO2Capt ion Ship_Gyro TPortconfig SMart TPortConf 1g ECMOL TROrtCONfigeGRAPLOG _ TPOr ECONT 1 9 MPROL kTPortconfigIRGROL TPor tConf 1g RPO1 LTPor tConf ig RPO2 C apt 10n HPR MRU LTPortconfigi0P_01 Capt ion oP1 Panter INS TPor tconf ig OP_O2eCaption oP2 Panther Over lay TPor tConf ig OP_O3 C apt ion 0P3 Cougar INS NavPorts CFG NavPorts CFG GPS 1 but these names can be changed to suit NAVSYSTEMS Blue Spider User Manual Jun 2013 Page 75 Two files are used to edit Channel names They are found in the Blue Spider System Config folder and are called PortManifest cfg and PortManifest cfg PortManifest cfg is a binary file and is not easily editable However we also have text file sioj xi PortManifest cfg which is editable Fle Eat Fomat _Vew Heb EE W as shown here Se Gra inacnels object GPs3 TPortconf ig 7 object GYRO1 TPortconfig CljeCe EGPSZ 3 WPeweCoimit 16 ie ns troncs Caption Javad 2 object GYRO3 TPortconfig object DOLOG TPortconfig end Sbject SHAFT TPortconfig object ECHO1 TPortconfig object ECHO2 TPortconfig en objec
232. pecific vessel offset ConvertFromDatum In the case of latitude and longitude this option can be used to specify the input datum it is otherwise sk Page 187 assumed to be WGS84 Contact support for more details if this option is to be used InputTimeout Applies to all input modes except the radio modem modes Can be used to specify a timeout after which any custom fields are set to blank A 3 1 10 5 multi_pos_input The multi_pos_input mode is exactly the same as the pos_input mode except it allows for positioning of multiple objects The data received ona multi_pos_input RTT channel is injected as HPR data so HPR beacons are used for positioning of mobiles rather than the RTT channel itself It supports the additional concept of the received position data having a unique id that gets mapped to a HPR beacon id A 3 1 10 6 All modes except radio All the input modes can decode one or more messages Specified by Message1 Message2 etc The radio modem modes have no additional configuration that can be specified Page 188 A 3 1 11 Examples A 3 1 11 1 Phinns decode pos_input Rios ode essagel essage2 essage3 RTT 01 GPS sgName sgType LatDegrees LonDegrees Altitude RTT 01 WD MsgName MsgType WaterDepth RTT 01 HDG MsgName MsgType Heading pos_input RT OWGES RTT 01 WD RTT 01 HDG SPIXSE POSITI TAUPE SPIXSE DEPIN_ Le Opals 377207720 SHEHDT TAUPE 2710710 The
233. pendix E Vessel Simulator Draft 1 0 Page 437 E 1 Vessel Simulator The vessel simulator is of use in testing demonstration and training or for trying out and evaluating the software The vessel simulator can output GPS Gyro Echo Sounder HPR Motion and some custom inputs At present the vessel simulator is geared towards the standard NMEA messages but it can also playback captured data Blue Spider Simulator Jan Steen ee oeeo oae o File Run View Course and Speed Current Position Echo F Enabled m1 STE Course 0 00 Lat 69 49 98669 N Depth 0 50 2 Gyro1 F Enabled Speed km 0 20 Lon 007 01 28858 E Heading 0 z GPS 1 Enabled GPS2 F Enabled GPS 3 Enabled Gyro 2 E Enabled Lat 6949990350N Lat Lat Headingooo E Lon 007 01 295204 E Lon Lon Quadgps Bt 9 2 Quadgps Bg Quadgps St g HPR Enabled D2 x105 0 Cable Engines Enabled P Roll 7 Enabled EN Y12310 ali O MEME Pich 00 LA zoo E Speer 5 00 Tensior 26 00 Run Roll 0 00 Stop Hold Position gt n m The main screen of the simulator is designed to take up as little area as possible but allows control over GPS position Page 438 gyro and a few other essentials For vessels with multiple GPS the vessel simulator can read a vessel definition SDF file and correctly compute the positions of up to 3 gps receivers In addition it is possible to set up periodic motion for vessel motion such
234. ppear to be garbled data when viewed here possibly leading to some confusion It is important to know if the source of the data is in binary For example the HPR410 message can be in binary as can some motion devices Most serial messages are in an ASCII NMEA format and the data is easily a uen EF readable in the Port Monitor NAVSYSTEMS k Blue Spider User Manual Jun 2013 AS Page 78 2 6 Decoding Alarms Message Alarms are there to help and there is little point in having the alarm panel minimised or not open at all If data stops coming in to Blue Spider then data won t be logged Di Blue Spider Alarms Online to BoxA on NAVDEV2 Master l 03 07 13 09 08 12 503 Depth Sounder 1 input has timed out 03 07 13 09 16 43 746 Script exception iniline 673 ReferenceError Can t find variable AvgWaterlineTidalHeightaboveLAT Alarms are displayed with the Date and Time Code and followed by the location and nature of the problem In the above example we have several alarms The first is warning us that we have a shaft input cable channel defined in the port manifest but we have not actually configured the port to e used in the communication settings Either we should remove this port from the manifest if were not using it and this will require a restart of the service or we should just configure the communication settings for it The second is a warning regarding the c
235. r 1 Grid position of GPS1 easting Grid position of GPS1 northing HDOP horizontal dilution of precision as received from the GPS receiver 1 PDOP dilution of precision as received from the GPS receiver 1 Geodetic position reported by GPS1 latitude Geodetic position reported by GPS1 longitude Quality indicator reported by GPS receiver 1 Number of satellites ground stations in view to GPS receiver 1 Time time of GPS1 HH MM SS SS as received from GPS receiver 1 VDOP vertical dilution of precision as received from the GPS receiver 1 Computed raw vessel heading derived from GPS1 to GPS2 vector Computed raw vessel heading derived from GPS2 to GPS3 vector Computed raw vessel heading derived from GPS3 to GPS1 vector Adjusted heading in degrees reported by GYRO 1 Gyro variables are also available for Gyro2 and 3 Adjusted heading in degrees reported by GYRO 1 Message string from the gyro 1 input Raw heading in degrees reported by GYRO 1 sk Variable Name HPR Ancilliary Heading HPR Ancilliary Heave HPR Ancilliary Pitch HPR Ancilliary Roll Logging Backup1 Anticipate dSize Logging Backup1 FileSize Logging Backup1 Unc Logging Cable Line Name Logging Cable Line No Logging Cable Type Logging Comment Logging Config1 LogType Logging Config1 Name Logging Description Logging EventNo Logging FixedSP Logging FixNo Logging Primary
236. r If SP3 is a vessel offset then this variable has the same value as Ship Motion Pitch otherwise if SP3 is a mobile the variable has the value of the mobile pitch or zero if this is not known A 6 1 352 SP3 Motion Roll Real Number Default caption in log files SP3 Roll Default format specifier 2f Attribute flags TYPE_DOUBLE UNIT_ANGLE UNIT2_DEGREES LOG_VALUE The roll of SP3 in degrees as obtained from a motion sensor If SP3 is a vessel offset then this variable has the same value as Ship Motion Roll otherwise if SP3 is a mobile the variable has the value of the mobile roll or zero if this is not known A 6 1 353 SP3 Name String Default caption in log files SP3 Name Attribute flags TYPE_STRING The name of the vehicle or vessel offset which is currently SP3 A 6 1 354 SP3 Offset Pos Name String Default caption in log files SP3 Pos Offset Name Attribute flags TYPE_STRING The name of the vehicle offset which is the positioning offset for SP3 blank if a vessel offset is used sk Page 330 A 6 1 355 SP3 Offset SP Name String Default caption in log files SP3 SP Offset Name Attribute flags TYPE_STRING The name of the vehicle offset which is the steer point offset for SP3 blank if a vessel offset is used A 6 1 356 SP3 Offsets Grid1 Easting Real Number Default caption in log files SP3 Offset 1 Easting Default format specifier 3f Attribute flags TYPE_DOUBL
237. r each field in each message assigned to an input channel a variable with the name InputChannelIN MessageN FieldN Will be created These variables hold the raw input values of each field You may log them directly or assign to other variables first In addition a variable InputChannelN MessageN is created for each message to hold the full decoded message Another variable InputChannelN MessageN Timestamp is created to hold the last time the message was decoded A 3 1 4 1 Message1 Keys Message1 to Message16 can be used to specify the message formats for each message to be received on the channel A 3 1 5 CustomOutputFormat1 Page 172 Custom output formats specify how output messages should be built and which channels they should be output on the output channels are the ports with the device names OP_01 to OP_16 Example CustomDataOutputFormat3 CustomOutputChannel 3 MsgName STESTOUTPUT Fieldl Trainl Nodel Tagl PV Field2 Trainl Nodel Tagl ID NMEA checksum Page 173 A 3 1 5 1 CustomOutputChannel This key specifies the output channels this message should be sent to You can if desired send a message to more than one output channel Example CustomOutputChannel 3 5 A 3 1 5 2 LogToFile You can log messages to log files that have the log file type set to the Output type This key specifies a log file by number or more than one log file Log files specified here must be of the
238. r gives the variable a caption The text for the heading should be placed in double quotes This attribute can be applied to variables defined in the Variables section and for fields defined for a given LogFile1 LogFile2 etc Example heading a heading A 7 2 format The format specifier makes it possible to alter the formatting of a variable when it is output It is typically used to specify the number of decimal places to be printed Example format 4lf Page 350 A 7 2 1 Numeric formats Numeric formats are similar to the C and PHP language printf format specifiers As long as a variable has a value that is a valid number then a numeric format can be used Some examples gt amp 3if prints the value to 3 decimal places gt 2If prints the value to 2 decimal places lg prints the value in exponential format default decimal places e lf prints the value in default format default decimal places Alg prints the value in exponential format 4 decimal places e d prints the value as an integer e 03d prints as an integer 3 digits padded with leading zeroes e X prints the value as a hexadecimal number lower case e 08x prints as an 8 digit hex number with leading zeroes e 0x 08x same as above but prefixed with Ox Page 351 For more information look up printf on google http www cplusplus com reference cstdio printf A 7 2 2 Special formats For certain types o
239. re that these files are the same as on the Master Server could lead to problems if Box B has to become Master Page 71 2 3 6 Automatic Master Slave If a BSPEngine server fails the automatic server changeover can be used to ensure uninterrupted service by taking over becoming Master and taking data from the other set of COM ports on the other computer If Copy Config is used without due care then all the settings on OPS2 may refer to COM ports on OPS1 This would be a problem if OPS1 failed Page 72 2 4 Data Communications 2 4 1 BSPNet All serial data into and out of BSPEngine is routed through BSPNet BSPNet is a standalone application that runs on any computer that uses it s COM ports to transfer data BSPNet is a Service It requires a User Account and a Password to start By default BSPNet starts up automatically when the PC is booted but it can be manually started through the Windows Services or from the BSPNet page in Blue Spider A software upgrade forces BSPNet and BSPEngine to stop The services must be manually restarted or the PC restarted after an upgrade BSPNet locks enabled ports of the PC If BSPNet owns a COM port then other applications like Hyper Terminal won t be able to use that same port To free up a port for Hyper Terminal to use it is only necessary to disable that one same port in BSPNet There is no need to stop the BSPNet service complet
240. received from the primary GPS receiver A 6 1 200 Ship GPS Pos Alt Real Number Default caption in log files Primary GPS Altitude Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE The altitude reported by the primary GPS receiver BSPEngine expects all GPS receivers to output position in MSL and this means the altitude is also with respect to the MSL on WGS84 geoid The altitude here is the altitude of the antenna not the CRP A 6 1 201 Ship GPS Pos Lat Real Number Default caption in log files Primary GPS Latitude Attribute flags TYPE_DOUBLE TYPE2_LON UNIT_ANGLE LOG_VALUE The latitude reported by the primary or integrated GPS receiver A 6 1 202 Ship GPS Pos Lon Real Number Default caption in log files Primary GPS Longitude Default format specifier NULL Attribute flags TYPE_DOUBLE TYPE2_LON UNIT_ANGLE LOG_VALUE The longitude reported by the primary or integrated GPS receiver A 6 1 203 Ship GPS Quality String Default caption in log files Primary GPS Quality Default format specifier 1f Page 288 Attribute flags TYPE_STRING SCAN_ALIAS The quality indicator reported by the primary GPS receiver A 6 1 204 Ship GPS ReceiverFlags Integer Default caption in log files GPS Receiver Mode Default format specifier Ox 08x Attribute flags TYPE_LONG LOG_VALUE SCAN_SLOWLOG A set of bitflags describing how the primary
241. rection This is computed using mobile heading obtained the vehicle gyro or other source unless SP2 is an offset on the ship in which case the ship heading is used A 6 1 293 SP2 Heading Real Number Default caption in log files SP2 Heading Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_ANGLE UNIT2_DEGREES LOG_VALUE The true heading for SP2 A 6 1 294 SP2 LaybackBearing Real Number Default caption in log files SP2 Layback Bearing Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_ANGLE UNIT2_DEGREES LOG_VALUE SCAN_NOLOG The layback bearing of SP2 from the Ship LaybackPoint A 6 1 295 SP2 LaybackDistance Page 314 Real Number Default caption in log files SP2 Layback Distance Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE SCAN_NOLOG The layback distance of SP2 from the Ship LaybackPoint A 6 1 296 SP2 LaybackMode String Default caption in log files SP2 Layback Mode Attribute flags TYPE_STRING The layback mode of the vehicle which is currently SP2 A 6 1 297 SP2 Motion Pitch Real Number Default caption in log files SP2 Pitch Default format specifier 2f Attribute flags TYPE_DOUBLE UNIT_ANGLE UNIT2_DEGREES LOG_VALUE The pitch of SP2 in degrees as obtained from a motion sensor If SP2 is a vessel offset then this variable has the same value as Ship Motion Pitch otherwise if S
242. romOffset CRP Messagel RTT 01 BlueView IDFilter 1 2 RTT_01_ Blueview Delimiter SNS MON HT Terminator r n el 1 0 0 ID 1 0 2 take last two characters ignore the rest Range 2 0 0 0 Bearing 3 0 0 Field2 4 0 0 Field3 5 0 0 A 3 1 11 3 Fanbeam multi_pos_input pea oe Mode multi pos input VesselRelative 1 AngleOffset 180 FromOffset Roller Messagel RTT_02 FanBeam IDFilter 152 RTT 02 FanBeam Terminator r n Fieldl 1 0 0 1D 1 052 Range 2 0 0 Bearing 3 0 Field2 4 0 0 Field3 5 0 0 0 Page 191 A 3 1 11 4 Gps ona plough pos_input PRT Hs Mode pos input Messagel RENOTIGES FRTESOINGESI MsgName SGPGGA MsgType 707s Time 2 0 0 Latitude 3 0 0 LatitudeChar 4 0 0 Longitude 5 0 0 LongitudeChar 6 0 0 GpsQuality 17070 NumSatellites 8 0 0 HorizontalDilution 9 0 0 Altitude 10 0 0 GeoidalSeparation 12 070 DGPSAge 14 0 0 NAVSYSTEMS Blue Spider User Manual Jun 2013 sk Page 192 A 3 1 12 Scriptincludes Script includes allow you to create your own functions in Javascript By creating a js file and placing it in the System Config Scripts folder and adding it as an include in this ini file section any functions you define will be available to the system You will need to initially create the scripts folder Example ScriptiIncludes Includel myfunctions js Script functions can access any varia
243. rometric adjustment a barometer is required and this is interfaced to BSPEngine as a custom input The readings from the barometer should be assigned to the variable Ship Barometer this variable must be defined in the INI file The value placed in this input variable should be specified in KPa kilopascals It is possible although not recommended except for test purposes or after failure of the barometer to define Ship Barometer as an input variable and have the operator manually enter the barometric pressure C 3 3 Configuring the barometer input In the BSPEngine INl configuration file a custom input decode section needs to be set up in order to decode the data from the barometer and to activate the device in case it is power cycled You should define the input decoding in the INI file by adding two sections as shown in the following example BAROMETER INPUT PTB210 Device CustomInputFormat6 BAROMETER Fieldl 1 0 0 PRESSURE InputTimeout After 5 Write BP r If no data is received then after a timeout of 5 seconds this message is sent to the device to turn on the output message After power cycling the Page 424 barometer it is always necessary to send this command CustomInputChannel6 Barometer custom input channel Messagel CustomInputFormat6 Barometer message In addition the following should be added to the custom log variables CustomLogVariables section Ship Baro
244. s a feature that hides positional data on selected workstations This is a feature that is typically used on sensitive installations where the position of seabed equipment must be kept a closely guarded secret These are typically of a military nature By default positions are displayed on all workstations Setting this key to true will hide all position data on all workstations except for any specified in the Machine acl INI file Refer to section A 4 p 206 A 3 1 1 12 AllowCoordSysChanges Setting this key to true prevents the coordinate system from being changed on all workstations Nominated workstations with this permission can be set up in the Machine acl ini file Refer to section A 4 p 206 A 3 1 1 13 AllowAnchorHandling Setting this key to true prevents anchor handling operations from being performed on all workstations Nominated workstations with this permission can be set up in the Machine acl ini file Refer to section A 4 p 206 Page 162 A 3 1 1 14 MemoryUsageAlarmLimit By default if BSPEngine memory usage exceeds 180Mb an alarm is raised BSPEngine memory usage would typically be below this default limit but if large SDF files or route databases are used then its memory usage may be somewhat higher This keys value sets the actual alarm limit in bytes A 3 1 1 15 MemoryUsageSuicideLimit By default BSPEngine memory usage can go to the maximum possible As an option it is possible to tell BSPEngine to commit
245. s the same as the beacon name Blue Spider will attempt to match the selected Positioning beacon with an offset with the same name This implies that it is good practice to always place the beacons at designated positions on the ROV or plough for example Always Port Fwd Always Stbd Fwd Always Port Aft Page 85 2 10 Blue Spider and HPR Calibrations This chapter is not intended as complete calibration guide it offers some useful verifications of the positioning systems 2 10 1 The HPR System The HPR system is a Range Bearing and Height system x y and z By default the reference point for the HPR positioning in Blue Spider is generally the vessel CRP Therefore the pole offsets from CRP are applied in the HPR system so that when Blue Spider see s the x y z data it references it to the vessel CRP When preparing for an HPR calibration the following list should be helpful It s the HPR system being calibrated nothing else Therefore all vessel rotations should be done around the pole not the CRP Inan ideal world the GPS antenna would be above the HPR pole for a calibration There are various ways to apply offsets to the GPS but the ULTIMATE way is to feed a GPS directly into the HPR and apply the GPS offsets into the HPR Realistically we generally feed a GPS string from Blue Spider into the HPR which is either the real GPS position with antenna offsets in the HPR or the CRP position
246. s the straight line distance along the route If no route is active this variable value is undefined NAN blank Alter course radii are ignored by this calculation A 6 1 325 SP2 Route SeabedSlope sk Page 322 Real Number Default caption in log files SP2 Route survey Seabed Slope Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_ANGLE UNIT2_DEGREES SCAN_NOLOG LOG_VALUE The route KP as surveyed seabed slope value under SP2 The data here comes from the water depth information in the active route if present The value is otherwise undefined A 6 1 326 SP2 Route Section Bearing Real Number Default caption in log files SP2 Route Section Bearing Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_ANGLE SCAN_SLOWLOG UNIT2_DEGREES LOG_VALUE The true bearing of the current route section adjacent to SP2 A 6 1 327 SP2 Route TerrainDist Real Number Default caption in log files SP2 Terrain Dist km Default format specifier 3f Attribute flags TYPE_DOUBLE TYPE2_KP UNIT_DISTANCE UNIT2_KM LOG_VALUE SCAN_NOLOG The route terrain distance value of SP2 This is similar to the KP value except the undulations in the route are taken into account The route terrain distances are calculated by taking the XYZ distances between each point the route should contain water depth information for this to be effective Each route point is converted from lat
247. se Name GPS1 Primary GPS GPS2 Additional GPS GPS3 Additional GPS GYRO1 Primary Gyro GYRO2 Additional Gyro GYRO3 Additional Gyro ECHO1 Primary echo sounder ECHO2 Additional echo sounder ECHO3 Additional echo sounder RPO1 Primary motion sensor RPO2 Additional motion sensor RPO3 Additional motion sensor Page 208 Device Purpose Name OP_0O1 General purpose outputs OP_16 IP_O1 General purpose inputs IP_32 RTT_O1 Special positioning inputs RTT_08 AIS_01 AIS input For each communications device name there is a variable called PortInput DeviceName where DeviceName is replaced with the name from the above table These variables hold the last received data on the corresponding port If you wish sk Page 209 to log raw data directly from these variables or turnaround an incoming stream on an input port you should trigger this on update of the Portinput DeviceName variable For Portinput AIS 01 there is a related variable called PortInput AlS_01 Filtered which contains the resulting filtered AIS data if filtering has been enabled If filtering has not been configured then the value of this variable is the unfiltered AIS data For more information see A 12 AIS Filtering Page 210 A 6 Built in Variables This section describes the built in variables that can be used for logging or in Javascript expressions to create additional variables Note all variables with a number
248. signed for use with anchor log files A 6 1 7 AHT Drop DeltaM Y Real Number Default caption in log files Delta North m Default format specifier 0f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE SCAN_NOLOG The true Y difference in position between the intended and actual drop position in metres This variable is for anchor handling operations and is designed for use with anchor log files A 6 1 8 AHT Drop GDelta X Real Number Default caption in log files Delta East Default format specifier 0f Attribute flags TYPE_DOUBLE LOG_VALUE SCAN_NOLOG The X difference in grid position between the intended and actual drop position sk Page 237 This is not the same as AHT Drop Delta X which gives the true differnce in metres Note that grid distances and directions are not neccessarily the same as real world distances This variable is for anchor handling operations and is designed for use with anchor log files A 6 1 9 AHT Drop GDelta Y Real Number Default caption in log files Delta North Default format specifier 0f Attribute flags TYPE_DOUBLE LOG_VALUE SCAN_NOLOG The Y difference in grid position between the intended and actual drop position This is not the same as AHT Drop Delta Y which gives the true differnce in metres Note that grid distances and directions are not neccessarily the same as real world distances This variable is for anchor handling operations
249. slack percentage from section start for AUX2 cable channel cable operations Smoothed slack percentage for AUX2 cable channel cable operations Cable speed in km h for the AUX2 cable channel cable operations Cable tension in kN for the AUX2 cable channel cable operations Raw cable speed in km h for the aux2 cable channel cable operations Raw cable tension in kN for the AUX2 cable channel cable operations Speed in m s being automatically demanded on systems with automatic cable control Distance deviation is based on slack and cable speed Cable out length from cable engine 1 sk Variable Name Cable Engine1 Tension Cable Engine2 CableOut Cable Engine2 Tension Cable Engine3 CableOut Cable Engine3 Tension Cable Engine4 CableOut Cable Engine4 Tension Cable Factory Length Cable Grid Easting Cable Grid Northing Cable PLC1 Raw Count Cable PLC1 Raw Tension Cable PLC2 Raw Count Cable PLC2 Raw Tension Cable PLC3 Raw Count Cable PLC3 Raw Tension Cable Pos Alt Cable Pos Lat Cable Pos Lon Cable Primary Length Page 215 Description Cable tension from cable engine 1 Cable out length from cable engine 2 Cable tension from cable engine 2 Cable out length from cable engine 3 Cable tension from cable engine 3 Cable out length from cable engine 4 Cable tension from cable engine 4 Factory length of the cable cable operations Grid pos
250. suffix in the name can also be accessed as arrays in Javascript Arrays use a 0 based index but the number suffixes are 1 based GPS1 Pos Lat is the same variable as GPS 0 Pos Lat The array notation is more useful when you want to use another variable as the array index Array aliases are also created for your own user defined variables if you apply a number suffix when defining the variable Do not use a number suffix in variable names if this is not what was intended Note a variable name such as User TSS340 will create an array and define element 339 If you want to include a number in a variable name try to avoid putting it at the end of the name like this Sk Page 211 A 6 1 Variable Names Quick reference summary of built in variables Variable Name AHT Act Time AHT Act Date AHT Action AHT Anchor Name AHT Anchor Owner AHT Drop DeltaM X AHT Drop DeltaM Y AHT Drop GDelta X AHT Drop GDelta Y AHT Drop Grid Easting AHT Drop Grid Northing AHT Drop Pos Lat Description Time time at which the action was requested Time date at which the action was requested Anchor action requested Name of the anchor for which an action is requested Name of the barge owning the anchor True X difference in position between the intended and actual drop position in metres True Y difference in position between the intended and actual drop position in metres X difference in grid position betwee
251. t Ship GPS Pos Lon Ship GPS Quality Ship GPS ReceiverFlags Ship GPS Sats Ship GPS VTG Course Ship GPS VTG Speed Ship GridHeading Ship Gyro ReceiverFlags Ship Heading Page 223 Description This is water depth relative to the current vertical datum from primary depth sounder Variables also available for echo sounder 2 and 3 This is water depth relative to the current vertical datum from depth sounder 1 Altitude reported by the primary GPS receiver Geoidal separation reported by the primary GPS receiver Primary GPS HDOP horizontal dilution of precision as received from the primary GPS receiver The altitude reported by the primary GPS receiver Latitude reported by the primary or integrated GPS receiver Longitude reported by the primary or integrated GPS receiver Quality indicator reported by the primary GPS receiver A set of bitflags describing how the primary GPS system is configured Number of satellites ground stations in view to the main GPS receiver Course as reported by the VTG message if present from the primary GPS Ship speed as reported by the GPS VTG message if present from the primary GPS Grid heading based on delta easting northing and not a true direction A set of bitflags describing how the primary Gyro system is configured Vessel heading from the primary gyro possibly adjusted with a fixed calibration offset sk Variable Name
252. t ECHO3 TPortconfig The cfg file can edited as required mt i cael object AUXO1 TPortconfig in Notepad and then has to be mee RE end saved saved as PortNavPorts cfg ro ii After you have saved the file you need to restart BSPEngine and on startup it will convert the file to a binary format if it has been edited The original text version will be automatically copied to PortManifest CFG The PortManifest is one configuration that cannot be changed while the server is running If a caption is not specified for a port a default built in caption will be used Page 76 If the editing in Notepad was not carried out correctly then when saving the files it will be ignored and will not actually change If this happens return to the PortManifest cfg and look for errors An alarm will be raised if there are errors loading this file If this file does not exist then a default one will be created when the BSPEngine starts up If you have made a serious mistake in editing this file and do not have a back up then deleting these files is one way to recover but you will loose any changes you have made Page 77 2 5 Monitoring Ports Click on the Monitor button in the Communications page to open the Port Monitor The data is observed here as BSPEngine sees it If the serial settings are incorrect wrong baud rate for example then the data will appear garbled and it will not be decoded by BSPEngine Binary data may a
253. t can seriously impact performance so should be avoided The properties of history objects are detailed in the following sections Timestamp values are in seconds and are effectively windows FILETIME values converted to seconds A 64 bit value representing the number of 100 nanosecond intervals since January 1 1601 http msdn microsoft com en us library windows desktop ms724284 v vs 85 aspx You can write your own Javascript functions to make use of history objects for more sophisticated analysis if needed sk Page 379 To obtain the history object for a given variable use the expression historyOf var Where var is the name of the variable with the history you want to access A 9 1 Properties History objects provide the following read only properties A 9 1 1 length This like a Javascript array returns the number of elements A 9 1 2 timeRange This returns the time range of the recorded data in seconds A 9 1 3 rateHz Page 380 This is the sampling interval or 0 if only updated as triggered by updates to the specified variable A 9 1 4 secondsPerSample Analogous to rate but the interval instead of the frequency e g 1 rateHz A 9 1 5 min The arithmetic minimum value A 9 1 6 max The arithmetic maximum value A 9 1 7 avg The arithmetic average value A 9 1 8 avgmod2pi The average angle value for angles in radians 0 to 2pi This special average is computed by summin
254. t caption in log files Target 1 Latitude Attribute flags TYPE_DOUBLE TYPE2_LAT UNIT_ANGLE SCAN_SLOWLOG LOG_VALUE The latitude of the current target 1 A 6 1 179 Route Target1 Pos Lon Real Number Default caption in log files Target 1 Longitude Attribute flags TYPE_DOUBLE TYPE2_LON UNIT_ANGLE SCAN_SLOWLOG LOG_VALUE The latitude of the current target 1 A 6 1 180 Route Target1 WGS84 Pos Lat Real Number Default caption in log files Target 1 Latitude WGS84 Attribute flags TYPE_DOUBLE TYPE2_LAT UNIT_ANGLE SCAN_NOLOG LOG_VALUE The latitude of the current target 1 A 6 1 181 Route Target1 WGS84 Pos Lon Real Number Default caption in log files Target 1 Longitude WGS84 Attribute flags TYPE_DOUBLE TYPE2_LON UNIT_ANGLE SCAN_NOLOG sk Page 282 LOG_VALUE The latitude of the current target 1 A 6 1 182 RTT_01 Altitude Real Number Default caption in log files RTT_01 Altitude Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE SCAN_SLOWLOG LOG_VALUE The altitude reported by the RTT_01 input A 6 1 183 RTT_01 Heading Real Number Default caption in log files RTT 01 Heading Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_ANGLE UNIT2_DEGREES LOG_VALUE The raw heading in degrees reported by RTT 1 A 6 1 184 RTT_01 Pos Lat Real Number Default caption in log files RTT_01 Latitude
255. t specifier 3f Attribute flags TYPE_DOUBLE TYPE2_KP UNIT_DISTANCE UNIT2_KM SCAN_ALIAS LOG_VALUE The route GRID KP value of SP1 This is the straight line distance along the route If no route is active this variable value is undefined NAN blank This variable is an alias of Ship SP1 Grid KP Alter course radii are ignored by this calculation Note The calculation here uses cartesian distances between easting and northing coordinates Sk Page 308 so depending on the distortion of the map projection the distances may be potentially quite different from true distances on the ground A 6 1 274 SP1 Route KP Real Number Default caption in log files Nav kp Default format specifier 3f Attribute flags TYPE_DOUBLE TYPE2_KP UNIT_DISTANCE UNIT2_KM SCAN_ALIAS LOG_VALUE The route KP value of SP1 This is the straight line distance along the route If no route is active this variable value is undefined NAN blank This variable is an alias of SP1 KP Alter course radii are ignored by this calculation A 6 1 275 SP1 Route SeabedSlope Real Number Default caption in log files SP1 Route survey Seabed Slope Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_ANGLE UNIT2_DEGREES SCAN_NOLOG LOG_VALUE The route KP as surveyed seabed slope value under SP1 The data here comes from the water depth information in the active route if present The value is otherwise undefined
256. tarted again Clearing these alarms DOES NOT fix the problems they are reporting Critical errors ranging from loss of data no access to logging files too much memory usage or lack of hard disk space Red Alarms MUST be fixed Page 81 2 7 Alert Logs All alarms that appear in the alarm panel are also written to the Alert Logs shown below The Alert logs are an extremely useful source of information for determining when a problem started to occur They can also log information relevant to individual computers by IP address should a machine be having problems for example GO Program Files x86 NavSystems Blue Spider System Logs Alerts 4 Search Alerts P Organize Includeinlibrary Sharewith Bum New folder S Name Date modified Type Size 1 Computer F AlertLog_20130703_090812 csv 28 KB fila OS C TTT AlertLog_20130703_081830 csv 34 K ae w AlertLog_20130702_105253 csv aK x gt D AlertLog 20130628 110831 csv 2KB eee AlertLog_20130628_090740 csv 14 KB D dvd opst Ne E AlertLog_20130627_154122 csv 13KB G Network E G A 324 items L S For easier reading and sorting the Alert Logs can be imported into Excel Alerts are often raised in the alert log to provide more information relating to alarms When alarms occur its worth looking in the alert logs for more information in the event that an alarm is not self explanatory Pa
257. te terrain distance value of SP3 Variable Name SP3 Route WaterDepth SP3 Smoothed CMG SP3 Smoothed Speed SP3 Smoothed SpeedKmh SP3 SP1Relative DX SP3 SP1Relative DY SP3 SP1Relative DZ SP3 Speed SP3 SpeedKmh SP3 SpeedMS SP3 Target1 Bearing SP3 Target1 Range SP3 WaterDepth SP3 WGS84 Pos Alt SP3 WGS84 Pos Lat SP3 WGS84 Pos Lon System CommsScannerStat e System CoordinateSystem System Date Page 233 Description Route KP as surveyed water depth value under SP3 Smoothed SP2 course made good in degrees Smoothed SP3 speed in metres per second Smoothed SP3 speed in kilometres per hour Delta X offset of SP3 from the vessel SP Delta Y offset of SP3 from the vessel SP Delta Z offset of SP2 from the vessel SP SP3 speed in kilometres per hour SP4 speed in kilometres per hour SP3 speed in metres per second These variables are available for auxiliary targets Target1 to Target4 True bearing in degrees from SP3 to the auxilliary target 1 Range in metres from SP3 to the auxilliary target 1 Water depth at the SP3 offset position if SP3 is a mobile Position of SP3 altitude in WGS84 Geodetic position of SP3 latitude Geodetic position of SP3 longitude State of the communications accesiblilty scanner thread in BSPEngine Coordinate system key describing the coordinate setup currently in use System date in DD MM YYYY format System DBR CablesRevision Clara database rev
258. the first line You can also select from SQL database but this is for playing back multiple ports from the same database For this option to be available you first have to set up a connection to a SQL server It is otherwise the same as the file playback option In order to use the SQL playback you must have previously recorded your data to a SQL database When configuring ports enter your machine name or just a dot in the machine name box unless you want to output via another machine running the BSPNet service The arrow buttons lt lt and gt gt let you view settings for the previous and next ports The monitor button lets you view the data being output Page 442 E 2 2 Motion Control The periodic motion of the ship can be controlled via the Motion page of the Settings dialog Vessel Simulator Settings a Motion Sensor El Message Format sPsmcs roll pitch heave z 8 2 a Roll oscillation Degrees Period s Phase s Enabled 6 00 8 00 0 00 E m Pitch oscillation 3 Degrees Period s Phase s E Enabled 000 0 00 0 00 g Heave oscillation 3 Metres Period s Phase s E Enabled 0 00 0 00 0 00 J Surge oscillation W Metres Period s Phase s Enabled 0 00 0 00 0 00 ia Sway oscillation Metres Period s Phase s E Enabled ld 0 00 0 00 0 00 Yaw oscillation a Period s pe s F Enabled Ca Apply Cancel N
259. the unlikely event however the changes made to the BSPEngine ini file on Box A have caused problems click B lt A to restore the original BSPEngine ini file INI change made on Master A Change OK Change Failed Copy INI from BtoA Copy INI from AtoB NAVSYSTEMS k Blue Spider User Manual Jun 2013 SS Page 69 2 3 5 3 Manually Copied Config Files Not all the required configuration files are automatically copied from Master to Slave If these files are modified they must be manually copied from Master to Slave Machine acl ini NavFix cfg PortManifest cfg 2 3 5 4 Machine acl ini This file contains the address and permissions of computers that are allowed to See latitude and longitude positions on the screen Modify geodetic settings Record anchor handling operations This is documented in detail in Appendix A section A 4 Machine acl INl p 206 Page 70 2 3 5 5 Navfix ini This file is used to configure the contents of the Fix Dialog box IT is modified through the file called Navfix cfg and is converted to binary when saved 2 3 5 6 Nav Inet ini This file is used to configure the Blue Spider Web service to the outside world 2 3 5 7 PortManifest cfg This file is used to modify the titles and the existence of the the COM port tabs for serial inputs It is modified through the PortManifest cfg file and is converted to binary when saved Failure to ensu
260. thed SP1 course made good in degrees Smoothed SP1 speed in metres per second Smoothed SP1 speed in kilometres per hour These variables are available for auxiliary targets 1to4 True bearing in degrees from SP1 to the auxilliary target 1 sk Variable Name SP1 Time SP1 WGS84 Pos Alt SP1 WGS84 Pos Lat SP1 WGS84 Pos Lon SP2 Grid Easting SP2 Grid Northing SP2 GridHeading SP2 Heading SP2 LaybackBearing SP2 LaybackDistance SP2 LaybackMode SP2 Motion Pitch SP2 Motion Roll SP2 Name SP2 Offset Pos Name SP2 Offset SP Name SP2 Offsets Grid1 Easting SP2 Offsets Grid1 Northing Page 228 Description Time of SP1 GPS HH MM SS SS as received from the primary GPS receiver Altitude position of SP1 in WGS84 Geodetic position of SP1 latitude Geodetic position of SP1 longitude Grid position of SP2 easting Grid position of SP2 northing Grid heading based on delta easting northing and not a true direction True heading for SP2 Layback bearing of SP2 from the Ship LaybackPoint Layback distance of SP2 from the Ship LaybackPoint Layback mode of the vehicle which is currently SP2 Pitch of SP2 in degrees as obtained from a motion sensor Roll of SP2 in degrees as obtained from a motion sensor Name of the vehicle or vessel offset which is currently SP2 Name of the vehicle offset which is the positioning offset for SP2 blank if a vessel offset is used Name of the v
261. tion Vessel SP1 Steerpoint CRP x sP2 sP3 rvs This feature is often Na Postioning HPR overlooked and can cause Ale A ROV Plough offset errors if Pom pare not set up correctly EE re This feature does not remove the responsibility from the surveyor to check that the correct offsets are selected 2 2 3 2 Depth Sensor Offset Selection of the Depth Sensor offset automatically overrides depth information from the HPR beacons If there is no Depth Sensor offset then Blue Spider will compute the depth of the vehicle from the HPR z value and the Beacon z offsets But if it does this it will raise an alarm as well Page 55 2 2 4 Cable Detector Tab For mobiles an extra tab is available to allow configuration of a cable detector if one has been fitted DZ Mobile Excalibur SDF Editor loj xj File Edit View Tools Help S7 d Ela mn Properties ax DetectorType EE C Coil Position TSS SURVEY x 5 NavServ Variable Bindings 2 roe input Variable Horizontal Displacement 3 Horizontal Displacement Error Vertical Displacement Vertical Displacement Error Heading Exc Heading Pitch ROV1 Pitch Roll ROV1 Roll Altitude User ProfileMeanHeight Source Type Signal Strength Solution 3DFies Alignment Display Cable Detector Lateral Offset TSS 350LAT Vertical Range TSS 350VRT Cover QC Check TSS 350Quality Ok Apply Cancel If you don t have a cable d
262. titudes are computed to mean sea level EGM96 only affects altitudes To work in EGM96 you simply select EGM96 as the datum instead of WGS84 sk Page 415 In fact there are 3 variations of EGM96 BL Bilinear NS Natural Spline SH Spherical Harmonic These are all different ways of computing the geoidal separation In practice the BL method is probably the best to use EGM96BL The SH method is included for completeness but is not recommended as it is quite slow The differences between these techniques the results computed are generally very small indeed but in some very specific cases can lead to differences of over 10cm The BL method is used by most GPS receivers and this is the one generally recommended for use in Blue Spider The respective datums you can select are EGM96BL EGM96NS and EGM96SH NOTE The EGM Geoid Library is required in order for the 3D viewer to operate correctly Page 416 C 2 Guide to using vertical datums C 2 1 Introduction BSPEngine and Blue Spider provide support for using a wide variety of datums map projections and vertical references The system used internally is underpinned primarily by a 3rd party library GeoCalc which is provided by Blue Marble Geographics This library is used to perform datum shifts and map projections The list of supported datums and map projections is defined in a file called geocalc dat see also NavGeo dat which is explained later in this docum
263. ttle need to log these messages If a particular message needs to be logged it can be added to the FilterInclude list See below A 12 1 3 FilterDeferldents Raw AIS messages come in a variety of types but broadly speaking there are two categories A messages that give details about the vessel associated with a particular MMSI B messages that tell us about the position of an object with a given MMSI number The category A messages do not tell us the position of an object but only its name and other Sk Page 393 information If FilterDeferldents is set to true then category A messages will not be passed through until a category B message for the same MMSI number arrives and the position is within the filter radius This way we avoid logging data the category A messages for objects that are outside the radius If FilterDeferldents is missing or not set to true then the position messages category B will be filtered but the information messages category A will only be filtered once a category B message has arrived A 12 1 4 Filterinclude This key allows any message with a given name to be passed through the filter For instance if you want to log AIS system alarm messages then include SAIALR as in the above example Normally you will not have this key present If you are only interested in positions of nearby vessels then you do not need to pass through any additional messages Page 394 A 13 Some Worked Examples A 13
264. tudeWGS84 PrimaryGPS GeoidalSeparati on PrimaryGPS HDOP PrimaryGPS Quality PrimaryGPS Sats Page 220 Description Size of the primary log file 1 in bytes UNC filename of the primary log file 1 These variables are available for MRU1 to MRU3 The heave reported by motion sensor 1 device in metres Pitch reported by motion sensor 1 device in degrees Roll reported by motion sensor 1 device in degrees Speed gauge range max This variable gives the minimum range of the speed gauge in Navslack Speed gauge range min This variable gives the minimum range of the speed gauge in Navslack Tension gauge range max This variable gives the minimum range of the tension gauge in Navslack Tension gauge range min This variable gives the minimum range of the tension gauge in Navslack Altitude reported by the primary GPS receiver Altitude reported by the primary GPS receiver Altitude reported by the primary GPS receiver Primary GPS HDOP horizontal dilution of precision as received from the primary GPS receiver Quality indicator reported by the primary GPS receiver Number of satellites ground stations in view to the GPS receiver Variable Name Remotes Vessel1 ID Remotes Vessel1 Name Remotes Vessel1 Push Avg Latency Remotes Vessel1 Push Late ncy Remotes Vessel1 SP1 Offset Name Remotes Vessel1 SP1 Pos Al t Remotes Vessel1 SP1 Pos La t Remotes Vessel1 SP1 Pos L
265. tumShifted Pos Alt Real Number Default caption in log files GPS1 Altitude DS Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE The position of GPS1 altitude The position given here is in your selected working datum vertical reference which is not necessarily WGS84 A 6 1 110 GPS1 DatumShifted Pos Lat Real Number Default caption in log files GPS1 Latitude DS Attribute flags TYPE_DOUBLE TYPE2_LAT UNIT_ANGLE SCAN_SLOWLOG LOG_VALUE sk Page 264 The geodetic position of GPS1 latitude The position given here is in your selected working datum which is not necessarily WGS84 A 6 1 111 GPS1 DatumShifted Pos Lon Real Number Default caption in log files GPS1 Longitude DS Attribute flags TYPE_DOUBLE TYPE2_LON UNIT_ANGLE SCAN_SLOWLOG LOG_VALUE The geodetic position of GPS1 longitude The position given here is in your selected working datum which is not necessarily WGS84 A 6 1 112 GPS1 GeoidalSeparation Real Number Default caption in log files GPS1 GeoidalSeparation Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE The geoidal separation reported by the GPS receiver 1 A 6 1 113 GPS1 GPS2 Heading Real Number Default caption in log files GPS1 2 Derived Heading Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_ANGLE UNIT2_DEGREES LOG_VALUE Computed raw v
266. uly accurate A 6 1 360 SP3 Offsets Pos1 Lat Real Number Default caption in log files SP3 Offset 1 Latitude Attribute flags TYPE_DOUBLE TYPE2_LAT UNIT_ANGLE SCAN_SLOWLOG LOG_VALUE Position latitude of SP3 mobile or ship offset 1 Offset 1 is the CRP A 6 1 361 SP3 0Offsets Pos1 Lon Real Number Default caption in log files SP3 Offset 1 Longitude Attribute flags TYPE_DOUBLE TYPE2_LON UNIT_ANGLE SCAN_SLOWLOG LOG_VALUE Position longitude of SP3 mobile or ship offset 1 Offset 1 is the CRP A 6 1 362 SP3 Offsets WGS84 Pos1 Alt Real Number Default caption in log files SP3 Offset 1 Altitude WGS84 Default format specifier 3f Page 332 Attribute flags TYPE_DOUBLE UNIT_DISTANCE SCAN_SLOWLOG LOG_VALUE Position altitude of SP3 offset 1 converted to WGS84 Offset 1 is the CRP A 6 1 363 SP3 Offsets WGS84 Pos1 Lat Real Number Default caption in log files SP3 Offset 1 Latitude WGS84 Attribute flags TYPE_DOUBLE TYPE2_LAT UNIT_ANGLE SCAN_SLOWLOG LOG_VALUE Position latitude of SP3 converted to WGS84 mobile or ship offset 1 Offset 1 is the CRP A 6 1 364 SP3 Offsets WGS84 Pos1 Lon Real Number Default caption in log files SP3 Offset 1 Longitude WGS84 Attribute flags TYPE_DOUBLE TYPE2_LON UNIT_ANGLE SCAN_NOLOG LOG_VALUE Position longitude of SP3 converted to WGS84 mobile or ship offset 1 Offset 1 is the CRP A
267. ves See Beacon ID A 6 1 43 Cable AUX1 Length Real Number Default caption in log files AUX 1 Cable Length Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE UNIT2_KM LOG_VALUE Cable length in kilometres for the AUX2 cable channel cable operations Page 247 A 6 1 44 Cable AUX1 SlackFromSectionStart Real Number Default caption in log files AUX 1 Slack From Section Start Default format specifier 1f Attribute flags TYPE_DOUBLE UNIT_RATIO UNIT2_PERCENT LOG_VALUE Smoothed slack percentage from section start for AUX1 cable channel cable operations A 6 1 45 Cable AUX1 Smoothed Slack Real Number Default caption in log files AUX 1 Smoothed Slack Default format specifier 1f Attribute flags TYPE_DOUBLE UNIT_RATIO UNIT2_PERCENT LOG_VALUE For cable operations Smoothed slack percentage for AUX1 cable channel cable operations A 6 1 46 Cable AUX1 Smoothed Speed Real Number Default caption in log files AUX 1 Cable Speed Default format specifier 2f Attribute flags TYPE_DOUBLE UNIT_SPEED UNIT2_KM_H LOG_VALUE Cable speed in km h for the AUX1 cable channel cable operations A 6 1 47 Cable AUX1 Smoothed Tension Real Number Default caption in log files AUX 1 Cable Tension Default format specifier 1f Attribute flags TYPE_DOUBLE LOG_VALUE Cable tension in kN for the AUX1 cable channel cable operations Page
268. well Note that none of Sk Page 245 the Beacon variables are logged to the SQL database in the varloga or b tables There is a separate special database table usbl_log for this type of data A 6 1 38 Beacon Pos Lat Real Number Default caption in log files Beacon Latitude Attribute flags TYPE_DOUBLE TYPE2_LAT UNIT_ANGLE SCAN_NOLOG LOG_VALUE The latitude value received from the last HPR or RTT message This variable is intended to be used in the special HPR CSV log file See Beacon ID A 6 1 39 Beacon Pos Lon Real Number Default caption in log files Beacon Longitude Attribute flags TYPE_DOUBLE TYPE2_LON UNIT_ANGLE SCAN_NOLOG LOG_VALUE The longitude value received from the last HPR or RTT message This variable is intended to be used in the special HPR CSV log file See Beacon ID A 6 1 40 Beacon X Real Number Default caption in log files Beacon X Default format specifier 3f Attribute flags TYPE_DOUBLE UNIT_DISTANCE LOG_VALUE SCAN_NOLOG The raw X value received from the last HPR or RTT message This variable is intended to be used in the special HPR CSV log file Note If you attempt to use it in a conventional CSV log you will probably loose data as Normal log files are written at a different rate When the data is written to a HPR log file it is written to the moment any HPR or RTT data arrives For HPR or RTT data where an easting northing e g UTM position is rece
269. x A BSPEngine Configuration Reference Draft 1 0 Page 150 A 1 Introduction BSPEngine INl defines much of the configuration data for Blue Spider and allows for decoding of standard and custom inputs Definition of variables to be logged Custom output formats and set up of CSV log files This appendix is intended as a guide to using the INI file for configuration and as reference material related to all aspects of configuration A 1 1 Install location On a 32 bit machine the installation location will typically be C Program Files NavSystems Blue Spider On a 64 bit machine the location will typically be C Program Files x86 NavSystems Blue Spider Page 151 A 1 2 Configuration data Configuration data is not supplied by the install program and must first be created before the software can perform useful functions However the location of the configuration data needs to be known A 1 2 1 Configuration location On a 32 bit machine the configuration files typically be found under C Program Files NavSystems Blue Spider System Config On a 64 bit machine the location will typically be C Program Files x86 NavSystems Blue Spider System Config The System Config folder is where the initial BSPEngine ini file must be placed Without this configuration file the service will start but will not perform any useful functions Page 152 A 1 2 2 System Alert Logs location The BSPEngine always rec

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